private static Vector2D GetVectorOfDirection(WalkerField.Direction direction)
{
CoordinateSystem2D coordSys = Game.GetLocalCoordsystemOfPlayer();
Vector2D vector = new Vector2D(0, 0);
switch (direction)
{
case WalkerField.Direction.FORWARD: vector = new Vector2D(1, 0); break;
case WalkerField.Direction.BACKWARD: vector = new Vector2D(-1, 0); break;
case WalkerField.Direction.RIGHT: vector = new Vector2D(0, -1); break;
case WalkerField.Direction.LEFT: vector = new Vector2D(0, 1); break;
case WalkerField.Direction.FORWARDLEFT: vector = new Vector2D(1, 1); break;
case WalkerField.Direction.FORWARDRIGHT: vector = new Vector2D(1, -1); break;
case WalkerField.Direction.BACKWARDLEFT: vector = new Vector2D(-1, -1); break;
case WalkerField.Direction.BACKWARDRIGHT: vector = new Vector2D(-1, 1); break;
}
return(coordSys.LocalToGlobal(vector.UnitVector));
}
/// <summary>
/// Detects circles on gasket image
/// </summary>
private static void DetectCircles(Image gasketImage, out Circle2D[] detectedCircles, out Segment2D[] conntectingSegments,
CoordinateSystem2D localSystem)
{
using (CircleFittingMap
circleMap1 = new CircleFittingMap(),
circleMap2 = new CircleFittingMap())
{
AVL.CreateCircleFittingMap(new ImageFormat(gasketImage),
new CircleFittingField(largeExpectedCircle, 35.0f),
localSystem, 16, 5, InterpolationMethod.Bilinear,
circleMap1);
AVL.CreateCircleFittingMap(new ImageFormat(gasketImage),
new CircleFittingField(smallExpectedCircle, 35.0f),
localSystem, 16, 5, InterpolationMethod.Bilinear,
circleMap2);
Circle2D?largeCircle, smallCircle;
AVL.FitCircleToEdges(gasketImage,
circleMap1,
scanParams,
Selection.Best, 0.1f, CircleFittingMethod.GeometricLandau,
out largeCircle);
AVL.FitCircleToEdges(gasketImage,
circleMap2,
scanParams,
Selection.Best, 0.1f, CircleFittingMethod.GeometricLandau,
out smallCircle);
conntectingSegments = new Segment2D[2];
if (largeCircle.HasValue && smallCircle.HasValue)
{
detectedCircles = new[] { largeCircle.Value, smallCircle.Value };
conntectingSegments[0] = new Segment2D(detectedCircles[0].Center, detectedCircles[1].Center);
}
else
{
detectedCircles = new Circle2D[0];
}
}
}
public RectangleCollider(CoordinateSystem2D coordinateSystem, float width, float height)
{
CoordinateSystem = coordinateSystem;
Width = width;
Heigth = height;
}
/// <summary>
/// Detects arcs on gasket image
/// </summary>
private static void DetectArcs(Image gasketImage, out Arc2D[] detectedArcs, Segment2D[] conntectingSegments,
CoordinateSystem2D localSystem)
{
using (ArcFittingMap
arcMap1 = new ArcFittingMap(),
arcMap2 = new ArcFittingMap())
{
//public static void CreateArcFittingMap
//(
// AvlNet.ImageFormat inImageFormat,
// AvlNet.ArcFittingField inFittingField,
// AvlNet.CoordinateSystem2D? inFittingFieldAlignment,
// int inScanCount,
// int inScanWidth,
// AvlNet.InterpolationMethod inImageInterpolation,
// AvlNet.ArcFittingMap outFittingMap,
// IList<AvlNet.Segment2D> diagScanSegments,
// IList<AvlNet.Rectangle2D> diagSamplingAreas
//)
AVL.CreateArcFittingMap(new ImageFormat(gasketImage),
new ArcFittingField(upperExpectedArc, 20.0f),
localSystem,
10, 5,
InterpolationMethod.Bilinear,
arcMap1);
AVL.CreateArcFittingMap(new ImageFormat(gasketImage),
new ArcFittingField(lowerExpectedArc, 20.0f),
localSystem,
10, 5,
InterpolationMethod.Bilinear,
arcMap2);
Arc2D?upperArc, lowerArc;
//public static void FitArcToEdges
//(
// AvlNet.Image inImage,
// AvlNet.ArcFittingMap inFittingMap,
// AvlNet.EdgeScanParams inEdgeScanParams,
// AvlNet.Selection inEdgeSelection,
// AvlNet.LocalBlindness? inLocalBlindness,
// float inMaxIncompleteness,
// AvlNet.CircleFittingMethod inFittingMethod,
// AvlNet.MEstimator? inOutlierSuppression,
// out AvlNet.Arc2D? outArc,
// IList<AvlNet.Edge1D?> outEdges,
// INullable<AvlNet.Profile> outDeviationProfile,
// IList<AvlNet.Point2D> outInliers,
// IList<AvlNet.Profile> diagBrightnessProfiles,
// IList<AvlNet.Profile> diagResponseProfiles
//)
AVL.FitArcToEdges(gasketImage,
arcMap1,
scanParams,
Selection.Best, 0.1f, CircleFittingMethod.GeometricLandau,
out upperArc);
AVL.FitArcToEdges(gasketImage,
arcMap2,
scanParams,
Selection.Best, 0.1f, CircleFittingMethod.GeometricLandau,
out lowerArc);
if (upperArc.HasValue && lowerArc.HasValue)
{
//mr:: 这里使用了 Value 属性来取值.
detectedArcs = new[] { upperArc.Value, lowerArc.Value };
conntectingSegments[1] = new Segment2D(detectedArcs[0].Center, detectedArcs[1].Center);
}
else
{
detectedArcs = new Arc2D[0];
}
}
}
