/// <summary>
///
/// </summary>
/// <param name="glyphs"></param>
/// <param name="gaze"></param>
/// <param name="diameter"></param>in percent (e.g. 150% of marker size)
/// <returns></returns>
public string GetGazedGlyph(AForge.Point gaze, double diameter)
{
ExtractedGlyphData myGlyph = null; //foundGlyphs[0];
double min = 100000;
AForge.IntPoint minXY, maxXY;
AForge.IntPoint center;
foreach (ExtractedGlyphData glyphData in foundGlyphs)
{
// get glyph's center point
PointsCloud.GetBoundingRectangle(glyphData.Quadrilateral, out minXY, out maxXY);
center = (minXY + maxXY) / 2;
double dis = GetDistance(new Point(center.X, center.Y), new Point((int)gaze.X, (int)gaze.Y));
if (dis < min)
{
myGlyph = glyphData;
min = dis;
}
}
if (myGlyph != null)
{
PointsCloud.GetBoundingRectangle(myGlyph.Quadrilateral, out minXY, out maxXY);
double glyphDiameter = Math.Sqrt(2) * ((maxXY - minXY).X);
double acceptedDis = (diameter * (glyphDiameter / 2));
if (min > acceptedDis)
{
myGlyph = null;
}
}
gazedMarkerHistory_Update(myGlyph, gaze);
string name = "";
if (myGlyph != null)
{
name = myGlyph.RecognizedGlyph.Name;
}
return(name);
}
public void gazedMarkerHistory_Update(ExtractedGlyphData glyph, AForge.Point gaze)
{
gazedMarkerHistory_Shift();
gazedMarkerHistory[0].name = "";
gazedMarkerHistory[0].tag = "";
if (glyph != null)
{
AForge.IntPoint minXY, maxXY;
PointsCloud.GetBoundingRectangle(glyph.Quadrilateral, out minXY, out maxXY);
AForge.IntPoint center = (minXY + maxXY) / 2;
gazedMarkerHistory[0].tag = "";
gazedMarkerHistory[0].gaze = gaze;
gazedMarkerHistory[0].markerCenter = new Point(center.X, center.Y);
gazedMarkerHistory[0].name = glyph.RecognizedGlyph != null? glyph.RecognizedGlyph.Name:"";
}
}
/// <summary>
/// distance is metured in Marker diameter unit. e.g. 1 diameter 2 diameter ....
/// </summary>
/// <param name="glyph"></param>
/// <param name="gaze"></param>
/// <returns></returns>
public double getGazeDistance(ExtractedGlyphData glyph, AForge.Point gaze)
{
double dis = 0;
AForge.IntPoint minXY, maxXY;
PointsCloud.GetBoundingRectangle(glyph.Quadrilateral, out minXY, out maxXY);
AForge.IntPoint center = (minXY + maxXY) / 2;
dis = GetDistance(new Point(center.X, center.Y), new Point((int)gaze.X, (int)gaze.Y));
PointsCloud.GetBoundingRectangle(glyph.Quadrilateral, out minXY, out maxXY);
double glyphDiameter = Math.Sqrt(2) * ((maxXY - minXY).X);
dis = dis / glyphDiameter;
return(dis);
}
private PositionAndOrientation GetPositionAndOrientationFromGlyph(ExtractedGlyphData glyph)
{
double x = glyph.RecognizedQuadrilateral.Average(g => g.X);
double y = glyph.RecognizedQuadrilateral.Average(g => g.Y);
Matrix4x4 transformationMatrix = glyph.TransformationMatrix;
float roll;
float pitch;
float yaw;
transformationMatrix.ExtractYawPitchRoll(out yaw, out pitch, out roll);
double xP = Math.Cos((double)yaw) * Math.Cos((double)pitch);
double yP = Math.Sin((double)yaw) * Math.Cos((double)pitch);
double zP = Math.Sin((double)pitch);
//double angle = yaw * 180.0d / Math.PI + 180.0d;
double angle = 180.0d - Math.Atan2(yP, zP) / Math.PI * 180.0d;
return(new PositionAndOrientation(x, y, angle));
}
/// <summary>
/// anglebetween gazepoint, glyph center and top point of the glyph
/// </summary>
/// <param name="glyph"></param>
/// <param name="gaze"></param>
/// <returns></returns>
public int getGazeAngle(ExtractedGlyphData glyph, AForge.Point gaze)
{
int angle = 0;
//gaze
AForge.IntPoint g = new AForge.IntPoint(Convert.ToInt32(gaze.X), Convert.ToInt32(gaze.Y));
//top point
Point topCenter = new Point(0, 0);
int i = 0, j = 1;
topCenter.X = (glyph.Quadrilateral[i].X + glyph.Quadrilateral[j].X) / 2;
topCenter.Y = (glyph.Quadrilateral[i].Y + glyph.Quadrilateral[j].Y) / 2;
AForge.IntPoint top = new AForge.IntPoint(topCenter.X, topCenter.Y);
//center
AForge.IntPoint minXY, maxXY;
PointsCloud.GetBoundingRectangle(glyph.Quadrilateral, out minXY, out maxXY);
AForge.IntPoint center = (minXY + maxXY) / 2;
AForge.IntPoint cnt = new AForge.IntPoint(center.X, center.Y);
angle = (int)(AForge.Math.Geometry.GeometryTools.GetAngleBetweenVectors(cnt, g, top));
int direc = 1;
if ((cnt.X - top.X) != 0 && (g.Y - cnt.Y - ((cnt.Y - top.Y) / (cnt.X - top.X)) * (g.X - cnt.X)) < 0)
{
direc = -1;
}
// if (top.X < cnt.X) direc *= -1;
angle *= direc;
return(angle);
}
