public static Cube AnalyseCube(List<ColorFilter> filters, int faceletMinWidth, int faceletMinHeight)
{
/*
1- Get all images from Arduino
2- Open a thread to each face and call ImageAnalyser.AnalyseImageSample()
3- Wait all 6 threads
4- Sort the positions of the facelets to the 6 faces
5- Create the string of original cube
6- Create new cube
*/
Cube newCube = new Cube();
const int nFaces = 6;
ManualResetEvent[] doneEvents = new ManualResetEvent[nFaces];
ImageSample imgSmp = new ImageSample();
imgSmp.FaceletMinWidth = faceletMinWidth;
imgSmp.FaceletMinHeight = faceletMinHeight;
List<ImageAnalyser> analysers = new List<ImageAnalyser>();
for (int i = 0; i < nFaces; i++)
{
doneEvents[i] = new ManualResetEvent(false);
ImageAnalyser imgAn = new ImageAnalyser();
imgAn.Filters = filters;
imgSmp.FaceNumber = i;
/*
* Aqui, deve ser colocado o trecho de código
* em que é pedi ao arduino que faça os movimentos
* para posicionar a face desejada para a câmera.
* Ao final, não esquecer de setar a propriedade Sample, do objeto imgSmp
Ex.: imgSmp.Sample = image;
*/
imgAn.Sample = imgSmp.Clone();
analysers.Add(imgAn);
ThreadPool.QueueUserWorkItem(imgAn.AnalyseImageSample, i);
}
WaitHandle.WaitAll(doneEvents);
return newCube;
}
/// <summary>
/// Finds the objects of the image
/// </summary>
/// <param name="image">The image to look for objects</param>
/// <param name="filter">The filter with the minHeight and minWidth</param>
private void FindObjectsOfImage(Image image, ColorFilter filter)
{
ImageAnalyser analyser = new ImageAnalyser();
Graphics g = Graphics.FromImage(picbVideoCapture.Image);
List<Rectangle> blocks = analyser.GetSquares(CubeAnalyser.SourceImage, (int)numMinWidth.Value, (int)numMinHeight.Value);
FindObjectsOfImage(image, filter, blocks, g, analyser);
}
/// <summary>
/// Find the objects in the image.
/// </summary>
/// <param name="image">The image to search for objects</param>
/// <param name="filter">The filter with color</param>
/// <param name="g">The Graphics to draw the rectangles</param>
/// <param name="analyser">The ImageAnalyser to analysis the image</param>
private void FindObjectsOfImage(Image image, ColorFilter filter, List<Rectangle> blocksFace, Graphics g, ImageAnalyser analyser)
{
Pen p = new Pen(filter.BorderColor, 3.0F);
foreach (Rectangle item in analyser.GetObjectsCoordinates(image, filter))
{
VisualCubeBlock newFacelet = new VisualCubeBlock();
newFacelet.Color = ColorTranslate.getFaceColorByColor(p.Color);
Rectangle coord = new Rectangle();
if (HasParentBlock(blocksFace, item, out coord))
{
newFacelet.Rectangle = coord;
this.CurrentFace.AddBlock(newFacelet.Clone(), true);
g.DrawRectangle(p, coord);
}
newFacelet.Dispose();
}
}
/// <summary>
/// Find all objects in image.
/// </summary>
private void FindObjectsOfAllImages()
{
if (CubeAnalyser.SourceImage != null)
{
this.CurrentFace.ClearBlocks();
ImageAnalyser analyser = new ImageAnalyser();
picbVideoCapture.Image = (Image)CubeAnalyser.SourceImage.Clone();
Graphics g = Graphics.FromImage(picbVideoCapture.Image);
List<Rectangle> blocks = analyser.GetSquares(CubeAnalyser.SourceImage, (int)numMinWidth.Value, (int)numMinHeight.Value);
//Color1
FindObjectsOfImage(picbRedFilter.Image, StoredData.GetFilter(picbRedFilter.Name), blocks, g, analyser);
//Color2
FindObjectsOfImage(picbBlueFilter.Image, StoredData.GetFilter(picbBlueFilter.Name), blocks, g, analyser);
//Color3
FindObjectsOfImage(picbGreenFilter.Image, StoredData.GetFilter(picbGreenFilter.Name), blocks, g, analyser);
//Color4
FindObjectsOfImage(picbYellowFilter.Image, StoredData.GetFilter(picbYellowFilter.Name), blocks, g, analyser);
//Color5
FindObjectsOfImage(picbOrangeFilter.Image, StoredData.GetFilter(picbOrangeFilter.Name), blocks, g, analyser);
//Color6
FindObjectsOfImage(picbWhiteFilter.Image, StoredData.GetFilter(picbWhiteFilter.Name), blocks, g, analyser);
}
}
/// <summary>
/// Filter especific image.
/// </summary>
/// <param name="picBox">Picturebox to show the filtered image</param>
private void FilterImage(PictureBox picBox)
{
if (picbVideoCapture.Image != null)
{
ImageAnalyser analyser = new ImageAnalyser();
picBox.Image = analyser.ApplyColorFilter(StoredData.GetFilter(picBox.Name), CubeAnalyser.SourceImage);
}
}
/// <summary>
/// Filter all images
/// </summary>
private void FilterAllImages()
{
if (picbVideoCapture.Image != null)
{
ImageAnalyser analyser = new ImageAnalyser();
//Color 1;
picbRedFilter.Image = analyser.ApplyColorFilter(StoredData.GetFilter(picbRedFilter.Name), CubeAnalyser.SourceImage);
//Color 2;
picbBlueFilter.Image = analyser.ApplyColorFilter(StoredData.GetFilter(picbBlueFilter.Name), CubeAnalyser.SourceImage);
//Color 3;
picbGreenFilter.Image = analyser.ApplyColorFilter(StoredData.GetFilter(picbGreenFilter.Name), CubeAnalyser.SourceImage);
//Color 4;
picbYellowFilter.Image = analyser.ApplyColorFilter(StoredData.GetFilter(picbYellowFilter.Name), CubeAnalyser.SourceImage);
//Color 5;
picbOrangeFilter.Image = analyser.ApplyColorFilter(StoredData.GetFilter(picbOrangeFilter.Name), CubeAnalyser.SourceImage);
//Color 6;
picbWhiteFilter.Image = analyser.ApplyColorFilter(StoredData.GetFilter(picbWhiteFilter.Name), CubeAnalyser.SourceImage);
FindObjectsOfAllImages();
}
}
public static Cube AnalyseCube(List<ColorFilter> filters, int faceletMinWidth, int faceletMinHeight, ArduinoChannel channel)
{
/*
1- Get all images from Arduino
2- Open a thread to each face and call ImageAnalyser.AnalyseImageSample()
3- Wait all 6 threads
4- Sort the positions of the facelets to the 6 faces
5- Create the string of original cube
6- Create new cube
*/
if (channel == null)
{
return null;
}
// inicializa visão do Arduino
channel.SendInitVision();
Cube newCube = new Cube();
const int nFaces = 6;
ManualResetEvent[] doneEvents = new ManualResetEvent[nFaces];
ImageSample imgSmp = new ImageSample();
imgSmp.FaceletMinWidth = faceletMinWidth;
imgSmp.FaceletMinHeight = faceletMinHeight;
List<ImageAnalyser> analysers = new List<ImageAnalyser>();
for (int i = 0; i < nFaces; i++)
{
doneEvents[i] = new ManualResetEvent(false);
ImageAnalyser imgAn = new ImageAnalyser();
imgAn.Filters = filters;
imgSmp.FaceNumber = i;
PositioningFace(channel, i+1);
imgSmp.SampleImg = CubeAnalyser.SourceImage;
imgAn.Sample = imgSmp.Clone();
analysers.Add(imgAn);
ThreadPool.QueueUserWorkItem(imgAn.AnalyseImageSample, doneEvents[i]);
}
foreach (ManualResetEvent item in doneEvents)
{
WaitHandle hdl = (WaitHandle)item;
hdl.WaitOne();
}
int[] faces;
Dictionary<CubeFace, CubeFaceType> cubeMap = new Dictionary<CubeFace, CubeFaceType>();
for (int i = 0; i < nFaces; i++)
{
Dictionary<CubeFaceletType, CubeFaceColor> tmpFacelets = new Dictionary<CubeFaceletType, CubeFaceColor>();
faces = SortFacelets((CubeFaceType)i);
for (int j = 0; j < 9; j++)
{
tmpFacelets.Add((CubeFaceletType)faces[j], GetCubeFaceColor(analysers[i].Sample.Cores[j]));
}
cubeMap.Add(new CubeFace(tmpFacelets), (CubeFaceType)i);
}
newCube = new Cube(cubeMap);
return newCube;
}
