static void printProps(Bitmap orig)
{
int redSum = 0;
int greenSum = 0;
int blueSum = 0;
int redSum2 = 0;
int greenSum2 = 0;
int blueSum2 = 0;
for (int i = 0; i < orig.Width; ++i)
{
for (int j = 0; j < orig.Height; ++j)
{
Color c = orig.GetPixel(i, j);
redSum += c.R;
greenSum += c.G;
blueSum += c.B;
redSum2 += c.R * c.R;
greenSum2 += c.G * c.G;
blueSum2 += c.B * c.B;
}
}
int size = orig.Width * orig.Height;
double redAv = redSum / size;
double greenAv = greenSum / size;
double blueAv = blueSum / size;
double redStd = Math.Sqrt(redSum2 / size - redAv * redAv);
double greenStd = Math.Sqrt(greenSum2 / size - greenAv * greenAv);
double blueStd = Math.Sqrt(blueSum2 / size - blueAv * blueAv);
Console.WriteLine("Red Av = " + redAv + ", Red Std = " + redStd);
Console.WriteLine("Green Av = " + greenAv + ", Green Std = " + greenStd);
Console.WriteLine("Blue Av = " + blueAv + ", Blue Std = " + blueStd);
}
public void createIdLookup(Bitmap im, int[,] idMat, int[] lookup, ref int currId)
{
bool[,] groupConn = new bool[currId + 1, currId + 1];
for (int i = 1; i < im.Width-1; ++i)
{
for (int j = 1; j < im.Height-1; ++j)
{
if (idMat[i, j] == 0) continue;
if (idMat[i + 1, j] != 0 && im.GetPixel(i,j).Equal(im.GetPixel(i+1,j)))
{
groupConn[idMat[i, j], idMat[i + 1, j]] = true;
groupConn[idMat[i+1, j], idMat[i, j]] = true;
}
if (idMat[i + 1, j+1] != 0 && im.GetPixel(i,j).Equal(im.GetPixel(i+1,j+1)))
{
groupConn[idMat[i, j], idMat[i + 1, j+1]] = true;
groupConn[idMat[i + 1, j+1], idMat[i, j]] = true;
}
if (idMat[i, j+1] != 0 && im.GetPixel(i,j).Equal(im.GetPixel(i,j+1)))
{
groupConn[idMat[i, j], idMat[i, j+1]] = true;
groupConn[idMat[i, j+1], idMat[i, j]] = true;
}
if (idMat[i-1, j + 1] != 0 && im.GetPixel(i,j).Equal(im.GetPixel(i-1,j+1)))
{
groupConn[idMat[i, j], idMat[i-1, j + 1]] = true;
groupConn[idMat[i-1, j + 1], idMat[i, j]] = true;
}
}
}
int newId = 0;
for (int i = 1; i <= currId; ++i)
{
if (lookup[i] == 0)
{
++newId;
lookup[i] = newId;
}
for (int j = 1; j <= currId; ++j)
{
if (i == j) continue;
if (groupConn[i, j] == false) continue;
lookup[j] = lookup[i];
}
}
currId = newId;
}
static int getObj(Bitmap im, int x, int y, bool[,] markMat, int depth, Color c,
BoundingBox bBox, ColorStat cSum, ColorStat cSum2, ObjPoint coordSum)
{
if (depth > 3000) return 1;
if (y < 0 || y >= im.Height || x < 0 || x >= im.Width)
return 0;
if (markMat[x, y])
return 0;
Color thisP = im.GetPixel(x, y);
if (thisP.R != c.R || thisP.G != c.G || thisP.B != c.B)
return 0;
// new object
++depth;
markMat[x, y] = true;
int size = 1;
// set bounding box
if (x < bBox.topLeft.x) bBox.topLeft.x = x;
if (x > bBox.bottomRight.x) bBox.bottomRight.x = x;
if (y < bBox.topLeft.y) bBox.topLeft.y = y;
if (y > bBox.bottomRight.y) bBox.bottomRight.y = y;
// set sums
cSum.R += thisP.R;
cSum.G += thisP.G;
cSum.B += thisP.B;
cSum2.R += thisP.R * thisP.R;
cSum2.G += thisP.G * thisP.G;
cSum2.B += thisP.B * thisP.B;
coordSum.x += x;
coordSum.y += y;
for (int i = x - 1; i <= x + 1; ++i)
{
for (int j = y - 1; j <= y + 1; ++j)
{
size += getObj(im, i, j, markMat, depth, c, bBox, cSum, cSum2, coordSum);
}
}
return size;
}
static Bitmap modify(Bitmap im, ColorRange redRange, ColorRange greenRange, int[,] idMat, ref int currId)
{
Bitmap res = new Bitmap(im.Width, im.Height);
for (int i = 1; i < im.Width-1; ++i)
{
for (int j = 1; j < im.Height-1; ++j)
{
if (redRange.inRange(im.GetPixel(i, j)))
//if (im.GetPixel(i, j).isRed())
{
res.SetPixel(i, j, Color.red);
int idToUse = setId(im, idMat, ref currId, i, j);
dilate(im, ref res, Color.red, i, j, 10, idMat, idToUse);
}
else if (greenRange.inRange(im.GetPixel(i, j)))
//else if (im.GetPixel(i, j).isGreenLight())
{
res.SetPixel(i, j, Color.green);
int idToUse = setId(im, idMat, ref currId, i, j);
dilate(im, ref res, Color.green, i, j, 10, idMat, idToUse);
}
}
}
return res;
}
static void dilate(Bitmap orig, ref Bitmap res, Color paint, int x, int y, int w, int[,] idMat, int currId)
{
Color pixel = orig.GetPixel(x, y);
ColorRange range = new ColorRange();
int delta = 30;
range.redMin = (int) (Math.Max(pixel.R - delta, 0));
range.redMax = (int)(Math.Min(pixel.R + delta, 255));
range.greenMin = (int)(Math.Max(pixel.G - delta, 0));
range.greenMax = (int)(Math.Min(pixel.G + delta, 255));
range.blueMin = (int)(Math.Max(pixel.B - delta, 0));
range.blueMax = (int)(Math.Min(pixel.B + delta, 255));
int startX = Math.Max(0, x - w);
int endX = Math.Min(orig.Width, x + w);
int startY = Math.Max(0, y - w);
int endY = Math.Min(orig.Height, y + w);
for (int i = startX; i < endX; ++i)
{
for (int j = startY; j < endY; ++j)
{
if (idMat[i, j] != 0) continue;
if (range.inRange(orig.GetPixel(i, j)))
{
res.SetPixel(i, j, paint);
idMat[i, j] = currId;
}
}
}
}
static void detectObj(Bitmap im, List<AnalyzedObject> objects)
{
bool[,] markMat = new bool[im.Width, im.Height];
for (int i = 0; i < im.Width; ++i)
{
for (int j = 0; j < im.Height; ++j)
{
Color c = im.GetPixel(i, j);
if (c.B == 0 && c.R == 0 && c.G == 0)
{
continue;
}
// we are on a non white pixel
BoundingBox bBox = new BoundingBox();
bBox.topLeft.x = 10000;
bBox.topLeft.y = 10000;
bBox.bottomRight.x = 0;
bBox.bottomRight.y = 0;
ColorStat cSum = new ColorStat();
ColorStat cSum2 = new ColorStat();
ObjPoint coordSum = new ObjPoint();
int depth = 0;
int size = getObj(im, i, j, markMat, depth, c, bBox, cSum, cSum2, coordSum);
if (size == 0) continue;
AnalyzedObject obj = new AnalyzedObject();
obj.decision = true;
obj.leftTop.x = i;
obj.leftTop.y = j;
obj.size = size;
obj.color = c;
obj.bBox = bBox;
cSum.R /= size;
cSum.G /= size;
cSum.B /= size;
cSum2.R = Math.Sqrt(cSum2.R / size - cSum.R * cSum.R);
cSum2.G = Math.Sqrt(cSum2.G / size - cSum.G * cSum.G);
cSum2.B = Math.Sqrt(cSum2.B / size - cSum.B * cSum.B);
obj.colorAv = cSum;
obj.colorStdev = cSum2;
coordSum.x = (int)(coordSum.x / size);
coordSum.y = (int)(coordSum.y / size);
obj.centroid = coordSum;
objects.Add(obj);
}
}
}
// This filter looks for black rectangle above/below the current object if it's green/red
static void blackOtherFilter(List<AnalyzedObject> objects, Bitmap origImage)
{
foreach (var obj in objects)
{
if (obj.decision == false)
continue;
int startY=0, endY=0;
int h = obj.bBox.bottomRight.y - obj.bBox.topLeft.y;
int dist = (int) (h / 2);
if(obj.color.R == Color.red.R)
{
startY = Math.Min(origImage.Height-1, obj.bBox.bottomRight.y + dist);
endY = Math.Min(origImage.Height-1, startY + h);
}
else // green
{
endY = Math.Max(0, obj.bBox.topLeft.y - dist);
startY = Math.Max(0, endY - h);
}
if(startY >= endY)
{
obj.decision = false;
continue;
}
int sr = 0, sg = 0, sb = 0;
int sr2 = 0, sg2 = 0, sb2 = 0;
int n = (endY - startY + 1) * (obj.bBox.bottomRight.x - obj.bBox.topLeft.x + 1);
for (int x = obj.bBox.topLeft.x; x <= obj.bBox.bottomRight.x; x++)
{
for (int y = startY; y <= endY; y++)
{
Color c = origImage.GetPixel(x, y);
sr += c.R;
sg += c.G;
sb += c.B;
sr2 += c.R * c.R;
sg2 += c.G * c.G;
sb2 += c.B * c.B;
}
}
sr /= n; // average
sg /= n;
sb /= n;
double stdr = Math.Sqrt(sr2 / n - sr * sr); // stdv
double stdg = Math.Sqrt(sg2 / n - sg * sg);
double stdb = Math.Sqrt(sb2 / n - sb * sb);
if (sr > 40 || sg > 40 || sb > 40 || stdr > 30 || stdg > 30 || stdb > 30)
obj.decision = false;
}
}
static void blackBoxFilter(List<AnalyzedObject> objects, Bitmap origImage)
{
foreach (var obj in objects)
{
if (obj.decision == false)
continue;
int w = 10;
int startX = Math.Max(0, obj.bBox.topLeft.x - w);
int endX = Math.Min(origImage.Width, obj.bBox.bottomRight.x + w);
int startY = Math.Max(0, obj.bBox.topLeft.y - w);
int endY = Math.Min(origImage.Height, obj.bBox.bottomRight.y + w);
int n = 0;
int sr = 0, sg = 0, sb = 0;
for (int x = startX; x <= endX; x++)
{
Color c = origImage.GetPixel(x, startY);
sr += c.R;
sg += c.G;
sb += c.B;
n++;
}
for (int x = startX; x <= endX; x++)
{
Color c = origImage.GetPixel(x, endY);
sr += c.R;
sg += c.G;
sb += c.B;
n++;
}
for (int y = startY; y <= endY; y++)
{
Color c = origImage.GetPixel(startX, y);
sr += c.R;
sg += c.G;
sb += c.B;
n++;
}
for (int y = startY; y <= endY; y++)
{
Color c = origImage.GetPixel(endX, y);
sr += c.R;
sg += c.G;
sb += c.B;
n++;
}
sr /= n;
sg /= n;
sb /= n;
if (sr > 80 || sg > 80 || sb > 80)
obj.decision = false;
}
}
public void findObjects(Bitmap im, int[,] idMat, AnalyzedObject[] tmpObj)
{
for (int i = 0; i < im.Width; ++i)
{
for (int j = 0; j < im.Height; ++j)
{
if (idMat[i, j] == 0) continue;
int index = idMat[i, j];
if (tmpObj[index] == null)
{
tmpObj[index] = createInitObj();
tmpObj[index].leftTop.x = i;
tmpObj[index].leftTop.y = j;
tmpObj[index].color = im.GetPixel(i, j);
}
// set bounding box
if (i < tmpObj[index].bBox.topLeft.x) tmpObj[index].bBox.topLeft.x = i;
if (i > tmpObj[index].bBox.bottomRight.x) tmpObj[index].bBox.bottomRight.x = i;
if (j < tmpObj[index].bBox.topLeft.y) tmpObj[index].bBox.topLeft.y = j;
if (j > tmpObj[index].bBox.bottomRight.y) tmpObj[index].bBox.bottomRight.y = j;
++(tmpObj[index].size);
}
}
}