private List <WPoint[]> GetExclusionPolygons()
{
var zones = AppSettings.Default.ExclusionZones.Split('|');
var result = new List <WPoint[]>();
foreach (var zone in zones)
{
if (string.IsNullOrWhiteSpace(zone))
{
continue;
}
var points = zone.Split(';');
var polypts = new List <WPoint>();
foreach (var point in points)
{
var xy = point.Split(',');
var p = new DPoint(int.Parse(xy[0]), int.Parse(xy[1]));
var spacep = new SpacePoint(Space).FromFrameSpace(p);
polypts.Add(spacep.StandardPoint.ToWindowsPoint());
}
result.Add(polypts.ToArray());
}
return(result);
}
public void ReadHullsFrame()
{
//Convert prior spaced hulls to frame space
ConvexHullsFrame = ConvexHullsPrior.Keys.ToDictionary(k => k, v => new List <DPoint>());
ConvexHullsPrior.Keys.ForEach(k =>
ConvexHullsFrame[k].AddRange(ConvexHullsPrior[k].Select(pv =>
Space.ToHeadSpaceFromPriorSpace(pv)
))
);
//Add standard space hulls
ConvexHullsStandard = ConvexHullsPrior.Keys.ToDictionary(k => k, v => new List <DPoint>());
ConvexHullsPrior.Keys.ForEach(k =>
ConvexHullsStandard[k].AddRange(ConvexHullsFrame[k].Select(pv =>
Space.ToStandardSpaceFromHeadSpace(pv)
))
);
//Find the proboscis base point
var closestPts = ConvexHullsPrior[PointLabels.Proboscis]
.OrderByDescending(p => p.Y)
.Take(2)
.ToList();
ProboscisHullBase = new SpacePoint(Space)
.FromPriorSpace
(new WPoint(
closestPts.Average(p => p.X),
closestPts.Average(p => p.Y)
));
}
private PartResult GetProbLoc()
{
//if (currentFrame.FrameIndex == 649)
// System.Diagnostics.Debug.Write("");
var activePoints = ProboscisActivePoints;
//Get top active points
var probTail = ProbHist
.FromPointList(ProboscisModel, ProboscisActivePoints)
.GetTail(0.35, AppSettings.Default.StationaryThreshold);
var tailsDeNoised = probTail.MedianFilter(radius: 1);
////Tips
////Centroid
var centroid = ProboscisHullBase.StandardPoint;
if (tailsDeNoised.Count > 0)
{
var closestToCentroid = tailsDeNoised.MinBy(p => p.Item1.Distance(centroid)).Item1;
if (closestToCentroid.Distance(centroid) <= 2)
{
centroid = closestToCentroid;
}
}
////Crawl to tip
var crawlSurface = ProboscisCrawlSurface;
if (crawlSurface == null)
{
crawlSurface = new Frame(Space.StandardWidth, Space.StandardHeight);
ProboscisCrawlSurface = crawlSurface;
}
var pointList = tailsDeNoised.Select(p => p.Item1).ToList();
//var pointList = tailsDeNoised;
crawlSurface.ColorPixels(ProboscisActivePoints, Color.Black);
crawlSurface.ColorPixels(pointList, Color.White);
var ctr = new SpacePoint(Space)
.FromPriorSpace(new WPoint(0, 0))
.StandardPoint;
//Could do with lookup table
var tip = CrawlToTip(crawlSurface, centroid, ctr, 1, AppSettings.Default.TipCrawlerRadius.Rounded(), AppSettings.Default.MaxTipCrawlerHop);
//For debugging
//crawlSurface.MarkPoint(centroid);
//crawlSurface.MarkPoint(tip, inner: Color.Orange);
return(new PartResult
{
Base = new SpacePoint(Space).FromStandardSpace(ProboscisHullBase.StandardPoint),
Tip = new SpacePoint(Space).FromStandardSpace(tip),
DetectedPoints = pointList.Select(sp => new SpacePoint(Space).FromStandardSpace(sp)).ToList()
});
}
private SideResult GetCoords(bool leftSide)
{
var activePoints = leftSide ? LeftActivePoints : RightActivePoints;
var FastMotionHist = leftSide ? LeftFastMotionHist : RightFastMotionHist;
var SlowMotionHist = leftSide ? LeftSlowMotionHist : RightSlowMotionHist;
var StationaryHist = leftSide ? LeftStationaryHist : RightStationaryHist;
var prevSoln = leftSide ? LeftMostRecentSoln : RightMostRecentSoln;
//Fast tail
var fastTail = FastMotionHist
.FromPointList(FastMotionModel, activePoints)
.GetTail(TailPercent, AppSettings.Default.FastThreshold);
//Slow tail
var slowTail = SlowMotionHist
.FromPointList(SlowMotionModel, activePoints)
.GetTail(TailPercent, AppSettings.Default.SlowThreshold);
//Combine and then Median filter
slowTail.AddRange(fastTail);
var tailsDeNoised = slowTail.MedianFilter(radius: 1);
//Check for extremely slow - stationary
var statTail = StationaryHist
.FromPointList(StationaryModel, activePoints)
.GetTail(0.05, AppSettings.Default.StationaryThreshold);
//Pick the model with most points
tailsDeNoised = tailsDeNoised.Count > statTail.Count ? tailsDeNoised : statTail;
//Or if not even stationary's (e.g. very fast), bail with prev soln
if (tailsDeNoised.Count < 10)
{
return(prevSoln);
}
//Tips
//Centroid
var centroid = GetCentroid(tailsDeNoised);
//Crawl to tip
var crawlSurface = leftSide ? LeftCrawlSurface : RightCrawlSurface;
if (crawlSurface == null)
{
crawlSurface = new Frame(Space.StandardWidth, Space.StandardHeight);
if (leftSide)
{
LeftCrawlSurface = crawlSurface;
}
else
{
RightCrawlSurface = crawlSurface;
}
}
var pointList = tailsDeNoised.Select(p => p.Item1).ToList();
crawlSurface.ColorPixels(activePoints, Color.Yellow);
crawlSurface.ColorPixels(pointList, Color.White);
var ctr = new SpacePoint(Space)
.FromPriorSpace(new WPoint(leftSide ? -0.5 : 0.5, 0))
.StandardPoint;
//Could do with lookup table
var tip = CrawlToTip(crawlSurface, centroid, ctr, 1, AppSettings.Default.TipCrawlerRadius.Rounded(), AppSettings.Default.MaxTipCrawlerHop);
var baseLoc = CrawlToTip(crawlSurface, centroid, ctr, 1, AppSettings.Default.TipCrawlerRadius.Rounded(), AppSettings.Default.MaxTipCrawlerHop, crawlingAway: false);
//For Debugging
//crawlSurface.MarkPoint(baseLoc, inner: Color.Yellow, outer: Color.Black);
//crawlSurface.MarkPoint(centroid, outer: Color.Black);
//crawlSurface.MarkPoint(tip, inner: Color.Orange, outer: Color.Black);
//crawlSurface.MarkPoint(ctr, inner: Color.Purple, outer: Color.Black);
//Sectors
var sectors = ComputeSectorWeights(tailsDeNoised, Space.StandardWidth, Space.StandardHeight, Space.HeadAngle);
var result = new SideResult()
{
Tip = new SpacePoint(Space).FromStandardSpace(tip),
Base = new SpacePoint(Space).FromStandardSpace(baseLoc),
DetectedPoints = pointList.Select(sp => new SpacePoint(Space).FromStandardSpace(sp)).ToList(),
SectorCounts = sectors
};
if (leftSide)
{
LeftMostRecentSoln = result;
}
else
{
RightMostRecentSoln = result;
}
return(result);
}
public void Annotate(Frame target)
{
using (var g = Graphics.FromImage(target.Bitmap))
{
var yellow1 = new Pen(Color.Yellow, 1);
var blue7 = new Pen(Color.Blue, 5);
var red = new Pen(Color.Red, 1);
var black = new Pen(Color.Black, 1);
var yellow3 = new Pen(Color.Yellow, 3);
var blue1 = new Pen(Color.Blue, 1);
var white1 = new Pen(Color.White, 1);
//Model points
if (AppSettings.Default.ShowModel && target?.ProcessorResult != null)
{
var procResult = (TipAndPERResult)target.ProcessorResult;
Action <List <SpacePoint> > Draw = (pts) =>
{
if (pts == null || pts.Count == 0)
{
return;
}
//var scale = new SpacePoint().FromStandardSpace(new DPoint(100, 100)).SubclippedPoint;
//target.ColorPixels(pts.Select(p => p.FramePoint).ToList(), yellow1.Color);
var brush = new SolidBrush(Color.Yellow);
var scale = pts[0].Space.ScaleX;
pts.ForEach(p =>
{
g.FillEllipse(brush, new Rectangle((p.FramePoint.X - scale / 2).Rounded(), (p.FramePoint.Y - scale / 2).Rounded(), scale.Rounded(), scale.Rounded()));
});
};
Draw(procResult?.Left?.DetectedPoints);
Draw(procResult?.Right?.DetectedPoints);
Draw(procResult?.Proboscis?.DetectedPoints);
}
//Hulls
if (ConvexHullsPrior != null)
{
InitSpace();
var mouthBoundary = ConvexHullsPrior[PointLabels.Mandibles].Select(p => new SpacePoint(Space).FromPriorSpace(p).FramePoint.ToPointF()).ToArray();
var left = ConvexHullsPrior[PointLabels.LeftFlagellumTip].Select(p => new SpacePoint(Space).FromPriorSpace(p).FramePoint.ToPointF()).ToArray();
var right = ConvexHullsPrior[PointLabels.RightFlagellumTip].Select(p => new SpacePoint(Space).FromPriorSpace(p).FramePoint.ToPointF()).ToArray();
var rightJ = ConvexHullsPrior[PointLabels.RightFlagellumBase].Select(p => new SpacePoint(Space).FromPriorSpace(p).FramePoint.ToPointF()).ToArray();
var leftJ = ConvexHullsPrior[PointLabels.LeftFlagellumBase].Select(p => new SpacePoint(Space).FromPriorSpace(p).FramePoint.ToPointF()).ToArray();
var head = ConvexHullsPrior[PointLabels.Head].Select(p => new SpacePoint(Space).FromPriorSpace(p).FramePoint.ToPointF()).ToArray();
var prob = ConvexHullsPrior[PointLabels.Proboscis].Select(p => new SpacePoint(Space).FromPriorSpace(p).FramePoint.ToPointF()).ToArray();
g.FillPolygon(new SolidBrush(Color.FromArgb(125, 0, 0, 0)), mouthBoundary);
g.FillPolygon(new SolidBrush(Color.FromArgb(125, 0, 0, 0)), head);
//Debug exclusion zones
//var exc = GetExclusionPolygons()[0].Select(p => new SpacePoint(Space).FromStandardSpace(p.ToDrawingPoint()).FramePoint.ToPointF()).ToArray();
//g.DrawPolygon(white1, exc);
g.DrawPolygon(white1, left);
g.DrawPolygon(white1, right);
g.DrawPolygon(white1, prob);
//g.DrawPolygon(yellow1, mouthBoundary);
//g.DrawPolygon(yellow1, rightJ);
//g.DrawPolygon(yellow1, leftJ);
g.DrawPolygon(white1, mouthBoundary);
g.DrawPolygon(white1, head);
}
//Outer border
g.DrawPolygon(black, new[]
{
AppSettings.Default.Origin.ToPointF(),
AppSettings.Default.Origin.Moved(Space.HeadDims.X, 0).ToPointF(),
AppSettings.Default.Origin.Moved(Space.HeadDims.X, Space.HeadDims.Y).ToPointF(),
AppSettings.Default.Origin.Moved(0, Space.HeadDims.Y).ToPointF()
});
//Detected tip locations
if (target?.ProcessorResult != null)
{
var procResult = (TipAndPERResult)target.ProcessorResult;
if (procResult?.Left?.Tip != null)
{
DrawCircle(g, yellow3, blue1, procResult.Left.Tip.FramePoint);
}
if (procResult?.Right?.Tip != null)
{
DrawCircle(g, yellow3, blue1, procResult.Right.Tip.FramePoint);
}
if (procResult?.Proboscis != null)
{
DrawCircle(g, yellow3, blue1, procResult.Proboscis.Tip.FramePoint);
}
}
//Draw the origin
var center = new SpacePoint(Space).FromPriorSpace(new WPoint(0, 0)).FramePoint;
g.FillEllipse(new SolidBrush(Color.Yellow), new Rectangle(center.X - 1, center.Y - 1, 3, 3));
g.FillEllipse(new SolidBrush(Color.Blue), new Rectangle(center.X, center.Y, 1, 1));
}
//target.Bitmap.Save(@"Y:\Downloads\BeeVids\19Feb16-Start Hept Tests\frames\" + target.FrameIndex + ".jpg", ImageFormat.Jpeg);
}