/// <summary>
/// Calculate the rotation of an object from image
/// </summary>
/// <param name="colorBS"></param>
/// <param name="currentBlob"></param>
/// <param name="viBlobs"></param>
/// <returns>angle degree</returns>
public static float GetRotation(Image <Bgra, byte> colorBS, BlobObject currentBlob, List <BlobObject> viBlobs)
{
Image <Bgra, byte> observedImage = UtilitiesImage.CropImage(colorBS, currentBlob.Rect);
//observedImage.Save("current.jpg");
float degree = 360;
if (viBlobs.Count == 0)
{
return(degree);
}
else
{
VectorOfKeyPoint keypoints1;
VectorOfKeyPoint keypoints2;
Matrix <float> symMatches;
foreach (BlobObject viblob in viBlobs)
{
//viblob.Image.Save(viblob.Id + ".jpg");
bool isDetect = UtilitiesImage.MatchIsSame(viblob.Image, observedImage.Convert <Gray, byte>(), out keypoints1, out keypoints2, out symMatches);
if (isDetect)
{
degree = UtilitiesImage.GetRotationDiff(symMatches, keypoints1, keypoints2);
}
}
return(degree);
}
}
/// <summary>
/// Find an object in a object list
/// </summary>
/// <param name="currentBlob"></param>
/// <param name="viBlobs"></param>
/// <returns>BlobID</returns>
public bool RecognizeObject(Image <Gray, byte> sourceImage, Image <Gray, byte> toCompare)
{
bool isDetect = false;
// MFunk: Run this a couple of times to get more robust
int numRuns = 3;
for (int i = 0; i < numRuns; i++)
{
isDetect = UtilitiesImage.MatchIsSame(toCompare, sourceImage);
if (isDetect)
{
break;
}
}
// seriously no idea whats happening here but somehow this works
if (!isDetect)
{
isDetect = UtilitiesImage.MatchIsSame(toCompare.Canny(10, 50), sourceImage.Canny(10, 50));
if (isDetect)
{
isDetect = true;
}
else
{
}
}
return(isDetect);
}
/// <summary>
/// Find an object in a object list
/// </summary>
/// <param name="currentBlob"></param>
/// <param name="viBlobs"></param>
/// <returns>BlobID</returns>
public static string RecognizeObject(BlobObject currentBlob, List <TrackableObject> dbObjects)
{
bool isDetect = false;
string blobId = "not identified";
bool careAboutWorkflow = false;
if (WorkflowManager.Instance.LoadedWorkflow != null)
{
careAboutWorkflow = true;
}
if (dbObjects.Count != 0)
{
foreach (TrackableObject obj in dbObjects)
{
if (careAboutWorkflow)
{
// first check if object belongs to current workingstep
if (obj.Category == "" + WorkflowManager.Instance.CurrentWorkingStep.StepNumber)
{
// MFunk: Run this a couple of times to get more robust
int numRuns = 3;
for (int i = 0; i < numRuns; i++)
{
isDetect = UtilitiesImage.MatchIsSame(obj.EmguImage, currentBlob.Image);
if (isDetect)
{
break;
}
}
if (isDetect)
{
WorkflowManager.Instance.OnObjectRecognized(obj);
blobId = obj.Name;
break;
}
else
{
isDetect = UtilitiesImage.MatchIsSame(obj.EmguImage.Canny(10, 50).Convert <Gray, Int32>(), currentBlob.Image.Canny(10, 50).Convert <Gray, Int32>());
if (isDetect)
{
isDetect = true;
blobId = obj.Name;
WorkflowManager.Instance.OnObjectRecognized(obj);
break;
}
else
{
blobId = "not identified";
}
}
if (isDetect)
{
m_LastWasCorrupted = false;
}
}
}
else
{
// do not care about workflow
// MFunk: Run this a couple of times to get more robust
int numRuns = 3;
for (int i = 0; i < numRuns; i++)
{
isDetect = UtilitiesImage.MatchIsSame(obj.EmguImage, currentBlob.Image);
if (isDetect)
{
break;
}
}
if (isDetect)
{
WorkflowManager.Instance.OnObjectRecognized(obj);
blobId = obj.Name;
break;
}
else
{
isDetect = UtilitiesImage.MatchIsSame(obj.EmguImage.Canny(10, 50).Convert <Gray, Int32>(), currentBlob.Image.Canny(10, 50).Convert <Gray, Int32>());
if (isDetect)
{
isDetect = true;
blobId = obj.Name;
WorkflowManager.Instance.OnObjectRecognized(obj);
break;
}
else
{
blobId = "not identified";
}
}
}
}
}
if (isDetect)
{
m_LastWasCorrupted = false;
}
return(blobId);
}
