// -----------------------
// Public Constructors
// -----------------------
/// <summary>
/// Creates a RectangleF from PointF and SizeF values.
/// </summary>
/// <param name="location">Location.</param>
/// <param name="size">Size.</param>
public RectangleF(PointF location, SizeF size)
{
x = location.X;
y = location.Y;
width = size.Width;
height = size.Height;
}
/// <summary>
/// Fits the covariance matrix (or 2nd moment matrix) to the ellipse by calculating eigen-vectors and values.
/// </summary>
/// <param name="covMatrix">Covariance matrix (or 2nd moment matrix).</param>
/// <param name="center">Center of the ellipse.</param>
/// <returns>Ellipse.</returns>
public static Ellipse Fit(double[,] covMatrix, PointF center = default(PointF))
{
if (covMatrix.GetLength(0) != 2 || covMatrix.GetLength(1) != 2)
throw new ArgumentException("Covariance matrix must have the same dimensions, and the dimension length must be 2!");
return Fit(covMatrix[0, 0], covMatrix[0, 1], covMatrix[1, 1], center);
}
public void Diffuse()
{
this.Position = new PointF
{
X = this.Position.X + 25 * (float)normalDistribution.Generate(),
Y = this.Position.Y + 25 * (float)normalDistribution.Generate(),
};
}
public override void OnMouseDown(object sender, MouseEventArgs e)
{
if (e.Button != MouseButtons.Left || !this.IsSelected || isDrawn)
return;
pt = Element.ToImageCoordinate(e.Location).ToPt();
var imageSize = Element.Image.Size.ToSize();
this.Annotation.Polygon = new PointF[] { pt.Clamp(imageSize) };
isDrawn = true;
}
/// <summary>
/// Produces a Point structure from a PointF structure by
/// taking the ceiling of the X and Y properties.
/// </summary>
/// <param name="value">Floating-point coordinate pair.</param>
/// <returns>Integer coordinate pair.</returns>
public static Point Ceiling(PointF value)
{
int x, y;
checked
{
x = (int)Math.Ceiling(value.X);
y = (int)Math.Ceiling(value.Y);
}
return new Point(x, y);
}
private void initializeKalman(PointF startPoint)
{
var measurementDimension = 2; //just coordinates
var initialState = new ModelState { Position = startPoint, Velocity = new PointF(0.2f, -1.5f)};
var initialStateError = ModelState.GetProcessNoise(10);
kalman = new DiscreteKalmanFilter<ModelState, PointF>(initialState, initialStateError,
measurementDimension /*(position)*/, 0 /*no control*/,
x => ModelState.ToArray(x), x => ModelState.FromArray(x), x => new double[] { x.X, x.Y });
kalman.ProcessNoise = ModelState.GetProcessNoise(1);
kalman.MeasurementNoise = Matrix.Diagonal<double>(kalman.MeasurementVectorDimension, 10000.0);
kalman.MeasurementMatrix = ModelState.GetPositionMeasurementMatrix();
kalman.TransitionMatrix = ModelState.GetTransitionMatrix();
}
/// <summary>
/// Creates new structure from area and angle.
/// </summary>
/// <param name="center">Box2D center.</param>
/// <param name="size">Box 2D size.</param>
/// <param name="angle">Angle in degrees.</param>
public Box2D(PointF center, SizeF size, float angle)
{
this.Center = new PointF(center.X, center.Y);
this.Size = size;
this.Angle = angle;
}
/// <summary>
/// Creates new <see cref="Vector2D"/> structure.
/// </summary>
/// <param name="startPoint">Start point.</param>
/// <param name="endPoint">End point.</param>
public Vector2D(PointF startPoint, PointF endPoint)
: this(endPoint.X - startPoint.X, endPoint.Y - startPoint.Y)
{ }
/// <summary>
/// Translates a PointF by the positive of a specified size.
/// </summary>
/// <param name="pt">Point.</param>
/// <param name="sz">Offset.</param>
/// <returns>PointF structure.</returns>
public static PointF Add(PointF pt, Size sz)
{
return(new PointF(pt.X + sz.Width, pt.Y + sz.Height));
}
/// <summary>
/// Translates a PointF by the negative of a specified size.
/// </summary>
/// <param name="pt">Point.</param>
/// <param name="sz">Offset.</param>
/// <returns>PointF structure.</returns>
public static PointF Subtract(PointF pt, Size sz)
{
return new PointF(pt.X - sz.Width, pt.Y - sz.Height);
}
/// <summary>
/// Constructs an empty model.
/// </summary>
public ConstantAcceleration2DModel()
{
this.Position = default(PointF);
this.Velocity = default(PointF);
this.Acceleration = default(PointF);
}
/// <summary>
/// Produces a Point structure from a PointF structure by
/// rounding the X and Y properties.
/// </summary>
/// <param name="value">Floating-point coordinate pair.</param>
/// <returns>Integer coordinate pair.</returns>
public static Point Round(PointF value)
{
int x, y;
checked
{
x = (int)Math.Round(value.X);
y = (int)Math.Round(value.Y);
}
return new Point(x, y);
}
//taken from:http://stackoverflow.com/questions/4243042/c-sharp-point-in-polygon and modified
/// <summary>
/// Checks whether the specified location is in the polygon.
/// </summary>
/// <param name="poly">Polygon.</param>
/// <param name="x">Horizontal coordinate.</param>
/// <param name="y">VErtical coordinate.</param>
/// <returns>True if the point resides inside the polygon, false otherwise.</returns>
public static bool IsInPolygon(this IList<PointF> poly, float x, float y)
{
PointF p1, p2;
bool inside = false;
if (poly.Count < 3)
{
return inside;
}
var oldPoint = new PointF(poly[poly.Count - 1].X, poly[poly.Count - 1].Y);
for (int i = 0; i < poly.Count; i++)
{
var newPoint = new PointF(poly[i].X, poly[i].Y);
if (newPoint.X > oldPoint.X)
{
p1 = oldPoint;
p2 = newPoint;
}
else
{
p1 = newPoint;
p2 = oldPoint;
}
if ((newPoint.X < x) == (x <= oldPoint.X) &&
(y - (long)p1.Y) * (p2.X - p1.X) < (p2.Y - (long)p1.Y) * (x - p1.X))
{
inside = !inside;
}
oldPoint = newPoint;
}
return inside;
}
/// <summary>
/// Calculates the Euclidean distance between two points.
/// </summary>
/// <param name="pointA">First point.</param>
/// <param name="pointB">Second point.</param>
/// <returns>Euclidean distance between the points.</returns>
public static double DistanceTo(this PointF pointA, PointF pointB)
{
var distnace = System.Math.Sqrt((pointA.X - pointB.X) * (pointA.X - pointB.X) + (pointA.Y - pointB.Y) * (pointA.Y - pointB.Y)); //Euclidean distance
return distnace;
}
/// <summary>
/// Translates the point by the specified offset.
/// </summary>
/// <param name="point">The point to offset.</param>
/// <param name="offset">Offset to be added.</param>
/// <returns>Translated point.</returns>
public static PointF Offset(this PointF point, PointF offset)
{
return new PointF
{
X = point.X + offset.X,
Y = point.Y + offset.Y
};
}
private void plotData(PointF point, int seriesIdx, DataPoint dataPointStyle = null, bool markLastPt = true)
{
Series s = chart.Series[seriesIdx];
dataPointStyle = dataPointStyle ?? new DataPoint();
if (markLastPt)
tryRemoveLastMarker(seriesIdx, dataPointStyle);
var dataPt = dataPointStyle.Clone();
dataPt.XValue = point.X;
dataPt.YValues = new double[] { point.Y };
s.Points.Add(dataPt);
if (markLastPt)
addMarker(seriesIdx);
}
/// <summary>
/// Order the points clockwise starting from the 12 o'clock.
/// </summary>
/// <param name="points">Points to sort clockwise</param>
/// <returns>Sorted point indexes.</returns>
public static IEnumerable<int> SortPointsClockwise(this IEnumerable<PointF> points)
{
PointF center = new PointF
{
X = (float)points.Select(x => x.X).Average(),
Y = (float)points.Select(x => x.Y).Average()
};
var sortedIndeces = points
.Select((x, i) => new
{
Index = i,
Value = (System.Math.Atan2(x.Y - center.Y, x.X - center.X) * 180 / System.Math.PI - 90 + 360) % 360
})
.OrderBy(x => x.Value)
.Select(x => x.Index)
.ToList();
return sortedIndeces;
}
// -----------------------
// Public Constructors
// -----------------------
/// <summary>
/// SizeF Constructor
/// </summary>
///
/// <remarks>
/// Creates a SizeF from a PointF value.
/// </remarks>
public SizeF(PointF pt)
{
width = pt.X;
height = pt.Y;
}
/// <summary>
/// Reflect point over reflector point.
/// </summary>
private static PointF reflectPoint(PointF pt, PointF reflectorPt)
{
return new PointF
{
X = reflectorPt.X + (reflectorPt.X - pt.X),
Y = reflectorPt.Y + (reflectorPt.Y - pt.Y)
};
}
/// <summary>
/// Subtracts the point by the specified offset.
/// </summary>
/// <param name="point">The point to subtract.</param>
/// <param name="offset">Subtract factor.</param>
/// <returns>Translated point.</returns>
public static PointF Subtract(this PointF point, PointF offset)
{
return new PointF
{
X = point.X - offset.X,
Y = point.Y - offset.Y
};
}
/// <summary>
/// Creates a SizeF from a PointF value.
/// </summary>
/// <param name="pt">PointF.</param>
public SizeF(PointF pt)
{
width = pt.X;
height = pt.Y;
}
/// <summary>
/// Rotates one point around another
/// </summary>
/// <param name="pointToRotate">The point to rotate.</param>
/// <param name="angleDeg">The rotation angle in degrees.</param>
/// <param name="centerPoint">The center point of rotation.</param>
/// <returns>Rotated point</returns>
public static PointF Rotate(this PointF pointToRotate, double angleDeg, PointF centerPoint)
{
//taken from: http://stackoverflow.com/questions/13695317/rotate-a-point-around-another-point and modified
double angleInRadians = angleDeg * (Math.PI / 180);
double cosTheta = Math.Cos(angleInRadians);
double sinTheta = Math.Sin(angleInRadians);
return new PointF
{
X =
(float)
(cosTheta * (pointToRotate.X - centerPoint.X) -
sinTheta * (pointToRotate.Y - centerPoint.Y) + centerPoint.X),
Y =
(float)
(sinTheta * (pointToRotate.X - centerPoint.X) +
cosTheta * (pointToRotate.Y - centerPoint.Y) + centerPoint.Y)
};
}
/// <summary>
/// Fits the covariance matrix (or 2nd moment matrix) to the ellipse by calculating eigen-vectors and values.
/// </summary>
/// <param name="a">[0, 0] value of the covariance matrix.</param>
/// <param name="b">[0, 1] or [1, 0] value of the covariance matrix.</param>
/// <param name="c">[1, 1] value of the covariance matrix.</param>
/// <param name="center">Center of the ellipse.</param>
/// <returns>Ellipse.</returns>
public static Ellipse Fit(double a, double b, double c, PointF center = default(PointF))
{
bool success;
return Fit(a, b, c, center, out success);
}
/// <summary>
/// Gets the center of the mass of the contour.
/// </summary>
/// <param name="points">Contour points.</param>
/// <returns>The center of the mass of the contour.</returns>
public static PointF Center(this IEnumerable<Point> points)
{
PointF average = new PointF();
int nSamples = 0;
foreach (var pt in points)
{
average.X += pt.X;
average.Y += pt.Y;
nSamples++;
}
average.X /= nSamples;
average.Y /= nSamples;
return average;
}
/// <summary>
/// Fits the covariance matrix (or 2nd moment matrix) to the ellipse by calculating eigen-vectors and values.
/// </summary>
/// <param name="a">[0, 0] value of the covariance matrix.</param>
/// <param name="b">[0, 1] or [1, 0] value of the covariance matrix.</param>
/// <param name="c">[1, 1] value of the covariance matrix.</param>
/// <param name="center">Center of the ellipse.</param>
/// <param name="success">Returns true if both calculated eigen-values are positive.</param>
/// <returns>Ellipse.</returns>
public static Ellipse Fit(double a, double b, double c, PointF center, out bool success)
{
var acDiff = a - c;
var acSum = a + c;
//A * X = lambda * X => solve quadratic equation => lambda1/2 = [a + c +/- sqrt((a-c)^2 + 4b^2)] / 2
var sqrtDiscriminant = System.Math.Sqrt(acDiff * acDiff + 4 * b * b);
var eigVal1 = (acSum + sqrtDiscriminant) / 2;
var eigVal2 = (acSum - sqrtDiscriminant) / 2;
//A * X = lambda * X => y / x = b / (lambda - c); where lambda is the first eigen-value
var angle = System.Math.Atan2(2 * b, (acDiff + sqrtDiscriminant));
success = eigVal1 > 0 && eigVal2 > 0;
return new Ellipse
{
Center = center,
Size = new SizeF
{
Width = (float)System.Math.Sqrt(eigVal1) * 4,
Height =(float)System.Math.Sqrt(eigVal2) * 4
},
Angle = (float)(angle * 180 / Math.PI)
};
}
/// <summary>
/// Produces a Point structure from a PointF structure by
/// truncating the X and Y properties.
/// </summary>
/// <param name="value">Floating-point coordinate pair.</param>
/// <returns>Integer coordinate pair.</returns>
public static Point Truncate(PointF value)
{
int x, y;
checked
{
x = (int)value.X;
y = (int)value.Y;
}
return new Point(x, y);
}
private static LineSegment2DF getLine(int derivativeOrientation, PointF centerPoint, float length)
{
Vector2D vec = new Vector2D(Angle.ToRadians(derivativeOrientation)).Multiply(length / 2);
var p1 = vec.Add(centerPoint);
var p2 = vec.Negate().Add(centerPoint);
return new LineSegment2DF(p1.ToPoint(), p2.ToPoint());
}
private static Rectangle createRect(PointF centerPoint, Size size, Size frameSize)
{
return new Rectangle((int)centerPoint.X - size.Width / 2, (int)centerPoint.Y - size.Height / 2, size.Width, size.Height).Intersect(frameSize);
}
/// <summary>
/// Determines if the specified point is contained within this RectangleF structure.
/// </summary>
/// <param name="pt">The point to test.</param>
/// <returns>This method returns true if the point represented by <paramref name="pt"/> is contained within this RectangleF structure; otherwise false.</returns>
public bool Contains(PointF pt)
{
return Contains(pt.X, pt.Y);
}
/// <summary>
/// Translates a PointF by the positive of a specified size.
/// </summary>
/// <param name="pt">Point.</param>
/// <param name="sz">Offset.</param>
/// <returns>PointF structure.</returns>
public static PointF Add(PointF pt, Size sz)
{
return new PointF(pt.X + sz.Width, pt.Y + sz.Height);
}
/// <summary>
/// Adjusts the location of this rectangle by the specified amount.
/// </summary>
/// <param name="pos">Amount to offset the location.</param>
public void Offset(PointF pos)
{
Offset(pos.X, pos.Y);
}
/// <summary>
/// Translates the position of the model.
/// </summary>
/// <param name="state">Current state.</param>
/// <param name="offset">Position offset.</param>
/// <returns>New state.</returns>
public static PerspectiveProjection2DModel Translate(this PerspectiveProjection2DModel state, PointF offset)
{
var newState = state.Clone();
newState.ImagePosition.X += offset.X;
newState.ImagePosition.Y += offset.Y;
return newState;
}
/// <summary>
/// Translates a PointF by the negative of a specified size.
/// </summary>
/// <param name="pt">Point.</param>
/// <param name="sz">Offset.</param>
/// <returns>PointF structure.</returns>
public static PointF Subtract(PointF pt, SizeF sz)
{
return(new PointF(pt.X - sz.Width, pt.Y - sz.Height));
}
