private void AddEdge(ref EDGEBUF edges, double threshold, int[] data, int curRunH, int curRunL, int dIndex)
{
int i;
if ((Math.Abs(curRunH) > threshold) &&
(curRunL >= 1) &&
((i = edges.EdgesFound) < MAXEDGES))
{
edges.EdgeH[i] = curRunH / 1000; // make the number smaller for convienince
edges.EdgeL[i] = dIndex - curRunL;
edges.EdgeR[i] = dIndex;
edges.EdgeC[i] = CenterOfEdge(data, ref edges, i);
edges.EdgesFound++;
}
}
public Align()
{
EdgeBufX = new EDGEBUF();
EdgeBufY = new EDGEBUF();
TargetX = new TARGBUF();
TargetY = new TARGBUF();
EdgeBufDiagonalX = new EDGEBUF();
EdgeBufDiagonalY = new EDGEBUF();
TargetDiagonalX = new TARGBUF();
TargetDiagonalY = new TARGBUF();
EdgeBufLeft = new EDGEBUF();
EdgeBufRight = new EDGEBUF();
TargetLeft = new TARGBUF();
TargetRight = new TARGBUF();
}
int EdgeExtract(int[] data, ref EDGEBUF edges, double threshold)
{
int dIndex, CurRunL;
int CurRunH, DifMax, DifCur;
bool RunEnded;
edges.EdgesFound = 0;
CurRunL = 1;
CurRunH = data[STARTPIX + 1] - data[STARTPIX]; // Sign of first Difference
DifMax = Math.Abs(CurRunH);
threshold *= 1000.0; // make numbers smaller for convienience
for (dIndex = STARTPIX; dIndex < data.Length - ENDPIX; dIndex++)
{
DifCur = data[dIndex + 1] - data[dIndex];
if (Math.Abs(DifCur) > DifMax)
{
DifMax = Math.Abs(DifCur);
}
RunEnded = ((DifCur ^ CurRunH) < 0) || ((4 * Math.Abs(DifCur) <= DifMax));
if (RunEnded)
{
AddEdge(ref edges, threshold, data, CurRunH, CurRunL, dIndex);
CurRunH = DifCur;
CurRunL = 1;
DifMax = 0;
}
else
{
CurRunL++;
CurRunH += DifCur;
}
}
AddEdge(ref edges, threshold, data, CurRunH, CurRunL, dIndex); // Add last edge, maybe
if (edges.EdgesFound > MAXEDGES)
{
return(1);
}
return(0);
}
/*******************************************************************************/
/* */
/* Returns 0 if successful */
/* nonzero if unsuccessful */
/* */
/* HowToLook = ONLYTARGET this parameter informs the target finding routine */
/* that there may be no reticle in view and that the */
/* reticle has not been located. */
/* = INSIDERET this informs the target finding routine to */
/* only look for the target inside the reticle */
/* edges that have been found */
/* */
/*******************************************************************************/
private int TargetLocate(EDGEBUF edges, double DesiredWidth, double TargetWidthTol, double Threshold, int Length, ref TARGBUF tar, Alignment_Type AlignType)
{
int lei, rei, BeginningOfTargetEdges = 0, EndOfTargetEdges = 0;
double HRatio, WRatio, TargetWidth;
double MeritValue, MaxMeritValue = -1.0F;
int Polarity = AlignType == Alignment_Type.ALGN_BLK_BAR ? 1 : -1;
tar.TargetFound = false;
BeginningOfTargetEdges = 0;
EndOfTargetEdges = edges.EdgesFound - 1;
if (EndOfTargetEdges <= BeginningOfTargetEdges) // we need at least 2 edges for the target
{
return(1);
}
lei = BeginningOfTargetEdges;
do
{
rei = EndOfTargetEdges;
do
{
HRatio = (float)Math.Abs((float)(edges.EdgeH[lei]) / (float)(edges.EdgeH[rei]));
if (HRatio > 1.0F)
{
HRatio = 1.0F / HRatio;
}
if ((edges.EdgeH[lei] * Polarity < -Threshold) &&
(edges.EdgeH[rei] * Polarity > Threshold) &&
(HRatio > 0.33333F))
{
TargetWidth = (edges.EdgeC[rei]) - (edges.EdgeC[lei]);
if ((TargetWidth >= DesiredWidth / TargetWidthTol) &&
(TargetWidth <= DesiredWidth * TargetWidthTol))
{
//
// Valid Target found, compute merit value
//
WRatio = TargetWidth / (float)DesiredWidth;
if (WRatio > 1.0F)
{
WRatio = 1.0F / WRatio;
}
MeritValue = (edges.EdgeH[rei] - edges.EdgeH[lei]) * Polarity * WRatio * HRatio;
if (MeritValue > MaxMeritValue) // best so far ??
{
MaxMeritValue = MeritValue;
tar.TargetFound = true;
tar.TargetL = lei;
tar.TargetR = rei;
}
}
}
} while (--rei > lei);
} while (++lei < EndOfTargetEdges);
if (tar.TargetFound)
{
tar.TargetC = (edges.EdgeC[tar.TargetL] +
edges.EdgeC[tar.TargetR]) / 2;
tar.Adj = tar.TargetC - 0.5f * Length;
tar.ImageSizeInPixels = Length;
return(0);
}
else
{
return(1);
}
}
public int AlignTarget(Alignment_Type AlignType, int[] XProfile, int[] YProfile, ref EDGEBUF EdgeBufX, ref EDGEBUF EdgeBufY, ref TARGBUF TargetX, ref TARGBUF TargetY,
double DesiredTrgtBarWidthX, double DesiredTrgtBarWidthY, double TargetWidthTolX, double TargetWidthTolY, double EdgeThresholdX, double EdgeThresholdY, ref String err)
{
err = "";
EdgeBufX.EdgesFound = EdgeBufY.EdgesFound = 0;
TargetX.TargetFound = TargetY.TargetFound = false;
if (EdgeExtract(XProfile, ref EdgeBufX, EdgeThresholdX) != 0)
{
return(1);
}
if (EdgeExtract(YProfile, ref EdgeBufY, EdgeThresholdY) != 0)
{
return(1);
}
TargetLocate(EdgeBufX, DesiredTrgtBarWidthX, TargetWidthTolX, EdgeThresholdX, XProfile.Length, ref TargetX, AlignType);
TargetLocate(EdgeBufY, DesiredTrgtBarWidthY, TargetWidthTolY, EdgeThresholdY, YProfile.Length, ref TargetY, AlignType);
if (!TargetX.TargetFound && !TargetY.TargetFound)
{
err = "Error Finding X and Y Targets";
return(1);
}
else if (!TargetX.TargetFound)
{
err = "Error Finding X Target";
return(1);
}
else if (!TargetY.TargetFound)
{
err = "Error Finding Y Target";
return(1);
}
return(0);
}
/***************************************************************/
/* finds the center of an edge by fitting a parabola to the */
/* derivative of the data and finding the position of maximum */
/***************************************************************/
private float CenterOfEdge(int[] data, ref EDGEBUF edges, int eI)
{
const int MAXPIXS = 120; // Maximum number of points expected in an edge
float mfact, xbar;
float p1, p1sq, p2;
float g1, g2, xx1, xx2;
float[] DerBuf; // Derivative buffer
int DerIndex;
int cpn, bpn, epn; // current, beginning, end Pixel number
int dI; // Index to current pixel in data buffer
float MaxD = -10000.0F;
int MaxI = 0;
float MaxDelta;
int NumbPix;
DerBuf = new float[data.Length];
NumbPix = (edges.EdgeR[eI]) - (edges.EdgeL[eI]) + 1;
if (NumbPix > MAXPIXS)
{
NumbPix = MAXPIXS; /* LimitMAXPIXS pix edge */
}
for (DerIndex = 1; DerIndex <= NumbPix; DerIndex++)
{
dI = edges.EdgeL[eI] + DerIndex - 1; /* Current data pixel index */
if (edges.EdgeH[eI] > 0)
{
DerBuf[DerIndex] = (float)(-(2 * data[dI - 2] + data[dI - 1] -
data[dI + 1] - 2 * data[dI + 2]));
}
else
{
DerBuf[DerIndex] = (float)((2 * data[dI - 2] + data[dI - 1] -
data[dI + 1] - 2 * data[dI + 2]));
}
if (DerBuf[DerIndex] > MaxD)
{
MaxD = DerBuf[DerIndex];
MaxI = DerIndex; /* Save max value and its index */
}
}
/* Trim points of shallow slope from edge */
epn = MaxI + 2;
bpn = MaxI - 2;
if (epn > NumbPix)
{
epn = NumbPix;
}
if (bpn < 1)
{
bpn = 1;
}
/* Fit parabola to the derivative and find its maximum */
cpn = 0; /* current pixel counter */
xbar = ((epn - bpn) / 2.0F) + 1.0F; /* Average x value */
mfact = ((epn - bpn + 1) * (epn - bpn + 1) - 1) / 12.0F; /* Factor for p2 */
g1 = g2 = xx1 = xx2 = 0.0F;
if ((MaxI != 1) && (MaxI != NumbPix))
{
for (DerIndex = bpn; DerIndex <= epn; DerIndex++)
{
cpn++;
p1 = cpn - xbar;
p1sq = p1 * p1;
xx1 = xx1 + p1sq;
g1 = g1 + p1 * DerBuf[DerIndex];
p2 = p1sq - mfact;
xx2 = xx2 + p2 * p2;
g2 = g2 + p2 * DerBuf[DerIndex];
}
}
if ((g2 != 0) && (xx1 != 0))
{
MaxDelta = bpn + xbar - 2.0F - (g1 * xx2) / (2.0F * g2 * xx1);
}
else
{
MaxDelta = bpn + xbar - 2.0F;
}
if (MaxDelta >= ((edges.EdgeR[eI]) - (edges.EdgeL[eI])) || (MaxDelta < 1))
{
MaxDelta = bpn + xbar - 2.0F;
}
return((edges.EdgeL[eI]) + MaxDelta); /* Edge center from left */
}
public void AddPlotsDiagonal(Graphics g, Rectangle rectangle, int[] XProfile, int[] YProfile, EDGEBUF EdgesX, EDGEBUF EdgesY, TARGBUF TargetX, TARGBUF TargetY)
{
int i, r, c, x, y, x0 = 0, y0 = 0;
double Scale = -rectangle.Height * 0.6 / (bytes_per_pixel * width * 255);
double Offset = rectangle.Top + rectangle.Height * 0.99;
if (XProfile == null)
{
return;
}
Pen PlotPen = new Pen(Color.FromArgb(255, 0, 255, 0), 2);
// Plot upward sloping plot
for (c = 0; c < XProfile.Length; c++)
{
// map profile value to
double w = c;
double v = Scale * (XProfile[c] - (0.5 * bytes_per_pixel * width * 255));
x = (int)(rectangle.Left + (w + v) * 0.5f * Diagonaldx * rectangle.Width / width);
y = (int)((rectangle.Top + rectangle.Height) - (w - v) * 0.5f * Diagonaldy * rectangle.Height / height);
ClipXY(ref rectangle, ref x, ref y);
if (c > 0)
{
g.DrawLine(PlotPen, x0, y0, x, y);
}
x0 = x;
y0 = y;
}
// Draw circles around the center of the edges
if (TargetX.TargetFound)
{
for (i = 0; i < EdgesX.EdgesFound; i++)
{
if (i == TargetX.TargetL || i == TargetX.TargetR)
{
double w = EdgesX.EdgeC[i];
double v = Scale * (InterpolateY(XProfile, (int)(EdgesX.EdgeC[i] + 0.5f)) - (0.5 * bytes_per_pixel * width * 255));
int xp = (int)(rectangle.Left + (w + v) * 0.5f * Diagonaldx * rectangle.Width / width);
int yp = (int)((rectangle.Top + rectangle.Height) - (w - v) * 0.5f * Diagonaldy * rectangle.Height / height);
g.DrawEllipse(PlotPen, xp - 4.0f, yp - 4.0f, 8.0f, 8.0f);
}
}
}
// Plot Downward sloping plot
Scale = rectangle.Width * 0.15 / (bytes_per_pixel * height * 255);
Offset = rectangle.Left + rectangle.Width * 0.01;
for (r = 0; r < YProfile.Length; r++)
{
// map profile value to
double w = r;
double v = Scale * (YProfile[r] - (0.5 * bytes_per_pixel * width * 255));
x = (int)(rectangle.Left + (w + v) * 0.5f * Diagonaldx * rectangle.Width / width);
y = (int)(rectangle.Top + (w - v) * 0.5f * Diagonaldy * rectangle.Height / height);
ClipXY(ref rectangle, ref x, ref y);
if (r > 0)
{
g.DrawLine(PlotPen, x0, y0, x, y);
}
x0 = x;
y0 = y;
}
// Draw circles around the center of the edges
if (TargetY.TargetFound)
{
for (i = 0; i < EdgesY.EdgesFound; i++)
{
if (i == TargetY.TargetL || i == TargetY.TargetR)
{
double w = EdgesY.EdgeC[i];
double v = Scale * (InterpolateY(YProfile, (int)(EdgesY.EdgeC[i] + 0.5f)) - (0.5 * bytes_per_pixel * width * 255));
int xp = (int)(rectangle.Left + (w + v) * 0.5f * Diagonaldx * rectangle.Width / width);
int yp = (int)(rectangle.Top + (w - v) * 0.5f * Diagonaldy * rectangle.Height / height);
g.DrawEllipse(PlotPen, xp - 4.0f, yp - 4.0f, 8.0f, 8.0f);
}
}
}
PlotPen.Dispose();
}
public void AddPlotsDouble(Graphics g, Rectangle rectangle, int[] XProfile, int[] YProfile, EDGEBUF EdgesX, EDGEBUF EdgesY, TARGBUF TargetX, TARGBUF TargetY)
{
int i, r, x, y, x0 = 0, y0 = 0;
double Scale = -rectangle.Height * 0.6 / (bytes_per_pixel * width * 255);
double Offset = rectangle.Top + rectangle.Height * 0.99;
if (XProfile == null)
{
return;
}
Pen PlotPen = new Pen(Color.FromArgb(255, 0, 255, 0), 2);
// Plot Vertical plot
Scale = rectangle.Width * 0.15 / (bytes_per_pixel * height * 255);
Offset = rectangle.Left + rectangle.Width * 0.01;
for (r = 0; r < height; r++)
{
// map profile value to
y = rectangle.Top + ((height - 1 - r) * rectangle.Height) / height;
x = (int)(Offset + Scale * YProfile[r]);
ClipXY(ref rectangle, ref x, ref y);
if (r > 0)
{
g.DrawLine(PlotPen, x0, y0, x, y);
}
x0 = x;
y0 = y;
}
// Draw circles around the center of the edges
if (TargetY.TargetFound)
{
for (i = 0; i < EdgesY.EdgesFound; i++)
{
if (i == TargetY.TargetL || i == TargetY.TargetR)
{
float yc = EdgesY.EdgeC[i];
float xc = InterpolateY(YProfile, yc);
float yp = rectangle.Top + ((height - 1 - yc) * rectangle.Height) / height;
float xp = (float)(xc * Scale + Offset);
g.DrawEllipse(PlotPen, xp - 4.0f, yp - 4.0f, 8.0f, 8.0f);
}
}
}
// Plot Vertical plot
Scale = rectangle.Width * 0.15 / (bytes_per_pixel * height * 255);
Offset = rectangle.Left + rectangle.Width * 0.8;
for (r = 0; r < height; r++)
{
// map profile value to
y = rectangle.Top + ((height - 1 - r) * rectangle.Height) / height;
x = (int)(Offset + Scale * YProfile[r]);
ClipXY(ref rectangle, ref x, ref y);
if (r > 0)
{
g.DrawLine(PlotPen, x0, y0, x, y);
}
x0 = x;
y0 = y;
}
// Draw circles around the center of the edges
if (TargetY.TargetFound)
{
for (i = 0; i < EdgesY.EdgesFound; i++)
{
if (i == TargetY.TargetL || i == TargetY.TargetR)
{
float yc = EdgesY.EdgeC[i];
float xc = InterpolateY(YProfile, yc);
float yp = rectangle.Top + ((height - 1 - yc) * rectangle.Height) / height;
float xp = (float)(xc * Scale + Offset);
g.DrawEllipse(PlotPen, xp - 4.0f, yp - 4.0f, 8.0f, 8.0f);
}
}
}
PlotPen.Dispose();
}
