public static bool IsT1G1End()
{
if (!FinalSign)
{
return(false);
}
ColorDetectResult result = Cv.DetectColor(new Image <Rgb, byte>(TcpIpFileManager.GetInstance().FilePath));
if (result.Result > 180)
{
while (true)
{
FormMain.GetInstance().SampleThreadFunc();
Image <Rgb, Byte> rawImage = new Image <Rgb, byte>((Bitmap)TcpIpFileManager.GetInstance().NowImage);
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
100, 200, 300
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
TcpIpFileManager.GetInstance().IsFileFresh = false;
float threshold = 0.05f;
if (Math.Abs(textureAnalysisResult.Diff - 0.15) < threshold)
{
return(true);
}
else
{
if (textureAnalysisResult.Diff > threshold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 80, MotorDirection.Backward, 80, 300);
}
else if (textureAnalysisResult.Diff < -threshold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 80, MotorDirection.Forward, 80, 300);
}
}
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
}
}
else
{
return(false);
}
}
/// <summary>
/// Suggest value sets are threshold1=[200] threshold2=[200,300,400]
/// </summary>
/// <param name="argImage"></param>
/// <param name="threshold1"></param>
/// <param name="threshold2"></param>
/// <param name="factorBetweenMinAndMax"></param>
/// <returns></returns>
public static CannyTextureAnalysisResult AutoCannyTextureAnalysis(Image <Rgb, Byte> argImage, double[] threshold1, double[] threshold2, int factorBetweenMinAndMax = 3)
{
Image <Gray, Byte> cannyImg = new Image <Gray, byte>(argImage.Size);
CannyTextureAnalysisResult bestCannyTextureAnalysisResult = null;
double bestCannyTextureAnalysisResultValue = 0;
bool FirstSign = true;
foreach (var singleThresholdValue1 in threshold1)
{
foreach (var singleThresholdValue2 in threshold2)
{
cannyImg = argImage.Canny(singleThresholdValue1, singleThresholdValue2);
CannyTextureAnalysisResult tempCannyTextureAnalysisResult = new CannyTextureAnalysisResult(cannyImg, string.Format("Threshold1/2 = {0:D} {1:D}", (int)singleThresholdValue1, (int)singleThresholdValue2));
float sum = 0, min = tempCannyTextureAnalysisResult.Data[0], max = min;
foreach (var i in tempCannyTextureAnalysisResult.Data)
{
sum += i;
if (i > max)
{
max = i;
}
if (i < min)
{
min = i;
}
}
double ave = (double)sum / tempCannyTextureAnalysisResult.Data.Length;
if (FirstSign)
{
bestCannyTextureAnalysisResultValue = max / ave;
bestCannyTextureAnalysisResult = tempCannyTextureAnalysisResult;
FirstSign = false;
}
if (max / ave > factorBetweenMinAndMax && factorBetweenMinAndMax != 0)
{
return(tempCannyTextureAnalysisResult);
}
if (max / ave > bestCannyTextureAnalysisResultValue)
{
bestCannyTextureAnalysisResultValue = max / ave;
bestCannyTextureAnalysisResult = tempCannyTextureAnalysisResult;
}
}
}
if (bestCannyTextureAnalysisResult == null)
{
throw new LogicErrorException();
}
return(bestCannyTextureAnalysisResult);
}
public static void T1G1()
{
Image <Rgb, Byte> rawImage = new Image <Rgb, byte>((Bitmap)TcpIpFileManager.GetInstance().NowImage);
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
100, 200, 300
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
//[obsolote] Detect lines and then remove them from final image.
//DetectLineResult lineResult = Cv.DetectLine(textureAnalysisResult.Img);
//Image<Gray, Byte> outputImage = textureAnalysisResult.Img;
//foreach (LineSegment2D line in lineResult.Line)
//{
// outputImage.Draw(line, new Gray(0), 2);
//}
//CannyTextureAnalysisResult reduceLinesResult = new CannyTextureAnalysisResult(rawImage, "Reduce the lines");
float diff = textureAnalysisResult.Diff;
LinearRegressionResult lrResult = Cv.CalculateLinearRegression(textureAnalysisResult.Img);
FormMain.GetInstance().WriteToConsole("Diff= " + diff + " Slope= " + lrResult.Slope + " Count= " + lrResult.Count + " CounterFinal= " + Counter);
FormMain.GetInstance().WriteToPicture1(textureAnalysisResult.Img);
//[obsolote] Generate nine patch graph.
//NinePatchResult patchResult = Cv.CalculateNinePatch(textureAnalysisResult.Img);
//int height = FormMain.GetInstance().GetPicture2Size().Height;
//int width = FormMain.GetInstance().GetPicture2Size().Width;
//byte[,,] patchImageData = new byte[height, width, 1];
//for (var index0 = 0; index0 < 3; index0++)
//{
// for (var index1 = 0; index1 < 3; index1++)
// {
// if (patchResult.Patch[index0,index1])
// {
// for (var y = height/3*index1; y < height/3*(index1+1); y++)
// {
// for (var x = width/3*index0; x < width/3*(index0+1); x++)
// {
// patchImageData[y, x, 0] = 255;
// }
// }
// }
// }
//}
//Image<Gray, Byte> patchImage = new Image<Gray, Byte>(patchImageData);
//FormMain.GetInstance().WriteToPicture2(patchImage);
//threshold
float threshold = 0.05f;
if (lrResult.Count < 2000)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 80, MotorDirection.Backward, 80, 300);
return;
}
if (Math.Abs(diff) > threshold)
{
countAcc = 0;
if (diff > threshold)
{
if (_previousDiff < -threshold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 35, MotorDirection.Backward, 35, 300);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 80, MotorDirection.Backward, 100, 300);
}
}
else if (diff < -threshold)
{
if (_previousDiff > threshold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 35, MotorDirection.Forward, 35, 300);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Backward, 80, MotorDirection.Forward, 100, 300);
}
}
}
else
{
if (lrResult.Slope < 0.1)
{
countAcc++;
if (countAcc > 2)
{
if (FinalSign)
{
Counter++;
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 1000);
}
else
{
Counter = Counter + 3;
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 3000);
}
}
else
{
Counter++;
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 1000);
}
}
else
{
countAcc = 0;
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 200);
}
}
_previousDiff = diff;
}
