/// <summary>
/// generates String for point-info in Json format
/// </summary>
/// <param name="points"></param>
/// <returns></returns>
public static String PointstoJson(double[][] points, double[][] cameraPoints)
{
if (points != null)
{
int i = 0;
String jSon = "{\"Items\":[";
foreach (double[] point in points)
{
// invert y axis
// jSon += IRUtils.IRPointsJson(i, (width - (int)point[0]) - (width/2) , (height - (int)point[1]) - (height/2) , (int)zCoordinates[i]);
// no invert
if (point != null)
{
jSon += IRUtils.IRPointsJson(i, cameraPoints[i][0], cameraPoints[i][1], point[2]);
// break;
}
else
{
jSon += IRUtils.IRPointsJsonNull(i);
}
if (i < points.Length - 1)
{
jSon += ",";
}
i++;
}
jSon += "]}";
return(jSon);
}
else
{
return(null);
}
}
/// <summary>
/// Finds connected components in the thresholded image(Binary) and draws rectangles around them
/// returns the thesholded image if "showThesholdedImg" is true, and the non-thresholded otherwise
/// </summary>
/// <param name="img"></param>
/// <param name="thresholdImg"></param>
/// <param name="showThesholdedImg"></param>
/// <returns></returns>
public void TrackedData(double[][] centroidPoints)
{
//int minArea = Properties.UserSettings.Default.DataIndicatorMinimumArea;
// Get Connected component in the frame
if (centroidPoints == null)
{
if (mainWindow != null)
{
mainWindow.StatusText = "Detected too many makers in the frame N =" + numbOfPoints + " should be lower than " + maxPoints;
}
return;
}
// index for array
int index;
int i = 0;
// if we have no previous points we add the conneted components as the tracked points
if (screen.PrevPoints == null)
{
if (this.maxPoints != numbOfPoints)
{
mainWindow.StatusText = "Unable to detect a r: " + rows + " c: " + cols + " grid in the image";
return;
}
double[][] orderedCentroidPoints = new double[rows * cols][];
Array.Sort(centroidPoints, (left, right) => right[1].CompareTo(left[1]));
int count = 0;
for (int k = 0; k < rows; k++)
{
double[][] colArray = centroidPoints.Skip(k * cols).Take(cols).ToArray();
Array.Sort(colArray, (left, right) => left[0].CompareTo(right[0]));
foreach (double[] p in colArray)
{
orderedCentroidPoints[count] = p;
count++;
}
}
screen.Initialize(orderedCentroidPoints);
}
else
{ // If we have previous points, we search for their nearest neighbours in the new frame.
// copy previous points to new point to avoid loosing any points
// newPoints = prevPoints;
if (firstDetected)
{
if (mainWindow != null)
{
mainWindow.StatusText = "Detected a r: " + rows + " c: " + cols + " grid in the image";
}
firstDetected = false;
}
// Use Hungarian algorithm to find points from the old frame, in the new frame
int[] minInd = GetPointsIndices(centroidPoints);
double[][] rearranged = IRUtils.RearrangeArray(centroidPoints, minInd, screen.PrevPoints.Length);
//Update points
foreach (double[] point in rearranged)
{
if (point != null)
{
index = minInd[i] + 2;
// if the area is more than minArea, discard
if (true) // (area > minArea)
{
PointInfo pInfo = screen.PointInfo[i];
pInfo.Visible = true;
}
}
i++;
}
screen.UpdateScreen(rearranged);
}
}
