public List <PointF> Process(LockBitmap before, Bitmap after, LockBitmap debuggingImage)
{
LockBitmap a = new LockBitmap(after);
List <PointF> ret = SubProcess(before, a, debuggingImage, m_laserMagnitudeThreshold);
a.UnlockBits();
return(ret);
}
/// <summary>
/// Set the row color of a Bitmap
/// </summary>
/// <param name="image"></param>
/// <param name="y"></param>
/// <param name="colors"></param>
public static void SetRowColors(this Bitmap image, int y, Color[] colors)
{
LockBitmap lbmp = new LockBitmap(image);
for (int x = 0; x < colors.Length; x++)
{
lbmp.SetPixel(x, y, colors[x]);
}
lbmp.UnlockBits();
}
/// <summary>
/// Overlay Pixel Location to a bitmap
/// </summary>
/// <param name="image"></param>
/// <param name="pixels"></param>
public static void OverlayPixels(this Bitmap image, List<PointF> pixels)
{
LockBitmap lbmp = new LockBitmap(image);
for (int iPx = 0; iPx < pixels.Count; iPx++)
{
int x = (int)(pixels[iPx].X);
int y = (int)(pixels[iPx].Y);
lbmp.SetPixel(x, y, Color.Red);
}
lbmp.UnlockBits();
}
/// <summary>
/// Overlay Pixel Location to a bitmap
/// </summary>
/// <param name="image"></param>
/// <param name="pixels"></param>
public static void OverlayPixels(this Bitmap image, List <PointF> pixels)
{
LockBitmap lbmp = new LockBitmap(image);
for (int iPx = 0; iPx < pixels.Count; iPx++)
{
int x = (int)(pixels[iPx].X);
int y = (int)(pixels[iPx].Y);
lbmp.SetPixel(x, y, Color.Red);
}
lbmp.UnlockBits();
}
/**
* Detects the laser in x, y pixel coordinates.
* @param debuggingImage - If non-NULL, it will be populated with the processed image that was used to detect the laser locations.
* This can be helpful when debugging laser detection issues.
* @param laserLocations - Output variable to store the laser locations.
* @param maxNumLocations - The maximum number of locations to store in @p laserLocations.
* @param thresholdFactor - Scales the laser threshold by this amount. default = 1.0
* @return Returns the number of locations written to @p laserLocations.
*/
public List <PointF> Process(Bitmap before, Bitmap after, Bitmap debuggingImage)
{
LockBitmap b = new LockBitmap(before);
LockBitmap d = debuggingImage != null ? new LockBitmap(debuggingImage) : null;
List <PointF> ret = Process(b, after, d);
b.UnlockBits();
if (d != null)
{
d.UnlockBits();
}
return(ret);
}
/// <summary>
/// Get All the pixels of a Bitmap
/// </summary>
/// <param name="image"></param>
/// <returns></returns>
public static List <List <Color> > GetPixels(this Bitmap image)
{
LockBitmap lbmp = new LockBitmap(image);
List <List <Color> > ret = new List <List <Color> >(lbmp.Height);
for (int y = 0; y < lbmp.Height; y++)
{
List <Color> line = new List <Color>(lbmp.Width);
for (int x = 0; x < lbmp.Width; x++)
{
line.Add(lbmp.GetPixel(x, y));
}
ret.Add(line);
}
lbmp.UnlockBits();
return(ret);
}
private List <PointF> SubProcess(LockBitmap before, LockBitmap after, LockBitmap debuggingImage,
double laserThreshold)
{
int firstRowLaserCol = before.Width / 2;
List <PointF> laserLocations = new List <PointF>(before.Height);
int left_Clip = 0;
int top_Clip = 0;
int right_Clip = left_Clip + before.Width;
int bottom_Clip = top_Clip + before.Height;
int width = before.Width;
int height = before.Height;
int rowStep = width;
int numLocations = 0;
int numMerged = 0;
// The location that we last detected a laser line
int prevLaserCol = firstRowLaserCol;
/** The LaserRanges for each column */
LaserRange[] laserRanges = new LaserRange[before.Height + 1];
double[] magSquare = new double[before.Width];
// for (int y = 0; y < height && numLocations < height; y++)
for (int y = top_Clip; y < bottom_Clip && numLocations < height; y++)
{
// The column that the laser started and ended on
int numLaserRanges = 0;
laserRanges[numLaserRanges].startCol = -1;
laserRanges[numLaserRanges].endCol = -1;
// for (int x = 0; x < rowStep; x += 1)
/**/
for (int x = left_Clip; x < right_Clip; x += 1)
{
/**/
// Perform image subtraction
int r = before.GetRed(x, y) - after.GetRed(x, y);
int magSq = r * r;
magSquare[x] = magSq;
byte mag = (byte)(255.0f * (magSq * 0.000015379f));
if (debuggingImage != null)
{
if (mag > laserThreshold)
{
debuggingImage.SetPixel(x, y, Color.FromArgb(255, mag, mag, mag));
}
else if (magSq > 0)
{
debuggingImage.SetPixel(x, y, Color.FromArgb(255, mag, mag, 0));
}
else
{
debuggingImage.SetPixel(x, y, Color.Black);
}
}
// Compare it against the threshold
if (mag > laserThreshold)
{
// The start of pixels with laser in them
if (laserRanges[numLaserRanges].startCol == -1)
{
laserRanges[numLaserRanges].startCol = x;
}
}
// The end of pixels with laser in them
else if (laserRanges[numLaserRanges].startCol != -1)
{
int laserWidth = x - laserRanges[numLaserRanges].startCol;
if (laserWidth <= m_maxLaserWidth && laserWidth >= m_minLaserWidth)
{
// If this range was real close to the previous one, merge them instead of creating a new one
bool wasMerged = false;
if (numLaserRanges > 0)
{
int rangeDistance = laserRanges[numLaserRanges].startCol - laserRanges[numLaserRanges - 1].endCol;
if (rangeDistance < RANGE_DISTANCE_THRESHOLD)
{
laserRanges[numLaserRanges - 1].endCol = x;
laserRanges[numLaserRanges - 1].centerCol = (laserRanges[numLaserRanges - 1].startCol + laserRanges[numLaserRanges - 1].endCol) / 2;
wasMerged = true;
numMerged++;
}
}
// Proceed to the next laser range
if (!wasMerged)
{
// Add this range as a candidate
laserRanges[numLaserRanges].endCol = x;
laserRanges[numLaserRanges].centerCol = (laserRanges[numLaserRanges].startCol + laserRanges[numLaserRanges].endCol) / 2;
numLaserRanges++;
}
// Reinitialize the range
laserRanges[numLaserRanges].startCol = -1;
laserRanges[numLaserRanges].endCol = -1;
}
// There was a false positive
else
{
laserRanges[numLaserRanges].startCol = -1;
}
}
} // foreach column
// If we have a valid laser region
if (numLaserRanges > 0)
{
int rangeChoice = DetectBestLaserRange(laserRanges, numLaserRanges, prevLaserCol);
prevLaserCol = laserRanges[rangeChoice].centerCol;
double centerCol = DetectLaserRangeCenter(laserRanges[rangeChoice], magSquare);
PointF location = new PointF((float)centerCol, y);
laserLocations.Add(location);
// If this is the first row that a laser is detected in, set the firstRowLaserCol member
if (laserLocations.Count == 1)
{
firstRowLaserCol = laserRanges[rangeChoice].startCol;
}
}
} // foreach row
/// <summary>
/// Get All the pixels of a Bitmap
/// </summary>
/// <param name="image"></param>
/// <returns></returns>
public static List<List<Color>> GetPixels(this Bitmap image)
{
LockBitmap lbmp = new LockBitmap(image);
List<List<Color>> ret = new List<List<Color>>(lbmp.Height);
for (int y = 0; y < lbmp.Height; y++)
{
List<Color> line = new List<Color>(lbmp.Width);
for (int x = 0; x < lbmp.Width; x++)
line.Add(lbmp.GetPixel(x, y));
ret.Add(line);
}
lbmp.UnlockBits();
return ret;
}
/// <summary>
/// Set the row color of a Bitmap
/// </summary>
/// <param name="image"></param>
/// <param name="y"></param>
/// <param name="colors"></param>
public static void SetRowColors(this Bitmap image, int y, Color[] colors)
{
LockBitmap lbmp = new LockBitmap(image);
for (int x = 0; x < colors.Length; x++)
lbmp.SetPixel(x, y, colors[x]);
lbmp.UnlockBits();
}
private List<PointF> SubProcess(LockBitmap before, LockBitmap after, LockBitmap debuggingImage,
double laserThreshold)
{
int firstRowLaserCol = before.Width / 2;
List<PointF> laserLocations = new List<PointF>(before.Height);
int left_Clip = 0;
int top_Clip = 0;
int right_Clip = left_Clip + before.Width;
int bottom_Clip = top_Clip + before.Height;
int width = before.Width;
int height = before.Height;
int rowStep = width;
int numLocations = 0;
int numMerged = 0;
// The location that we last detected a laser line
int prevLaserCol = firstRowLaserCol;
/** The LaserRanges for each column */
LaserRange[] laserRanges = new LaserRange[before.Height + 1];
double[] magSquare = new double[before.Width];
// for (int y = 0; y < height && numLocations < height; y++)
for (int y = top_Clip; y < bottom_Clip && numLocations < height; y++)
{
// The column that the laser started and ended on
int numLaserRanges = 0;
laserRanges[numLaserRanges].startCol = -1;
laserRanges[numLaserRanges].endCol = -1;
// for (int x = 0; x < rowStep; x += 1)
/**/
for (int x = left_Clip; x < right_Clip; x += 1)
{
/**/
// Perform image subtraction
int r = before.GetRed(x, y) - after.GetRed(x, y);
int magSq = r * r;
magSquare[x] = magSq;
byte mag = (byte)(255.0f * (magSq * 0.000015379f));
if (debuggingImage != null)
{
if (mag > laserThreshold)
debuggingImage.SetPixel(x,y, Color.FromArgb(255, mag, mag, mag));
else if (magSq > 0)
debuggingImage.SetPixel(x,y, Color.FromArgb(255, mag, mag, 0));
else
debuggingImage.SetPixel(x,y, Color.Black);
}
// Compare it against the threshold
if (mag > laserThreshold)
{
// The start of pixels with laser in them
if (laserRanges[numLaserRanges].startCol == -1)
{
laserRanges[numLaserRanges].startCol = x;
}
}
// The end of pixels with laser in them
else if (laserRanges[numLaserRanges].startCol != -1)
{
int laserWidth = x - laserRanges[numLaserRanges].startCol;
if (laserWidth <= m_maxLaserWidth && laserWidth >= m_minLaserWidth)
{
// If this range was real close to the previous one, merge them instead of creating a new one
bool wasMerged = false;
if (numLaserRanges > 0)
{
int rangeDistance = laserRanges[numLaserRanges].startCol - laserRanges[numLaserRanges - 1].endCol;
if (rangeDistance < RANGE_DISTANCE_THRESHOLD)
{
laserRanges[numLaserRanges - 1].endCol = x;
laserRanges[numLaserRanges - 1].centerCol =(laserRanges[numLaserRanges - 1].startCol + laserRanges[numLaserRanges - 1].endCol) / 2;
wasMerged = true;
numMerged++;
}
}
// Proceed to the next laser range
if (!wasMerged)
{
// Add this range as a candidate
laserRanges[numLaserRanges].endCol = x;
laserRanges[numLaserRanges].centerCol = (laserRanges[numLaserRanges].startCol + laserRanges[numLaserRanges].endCol) / 2;
numLaserRanges++;
}
// Reinitialize the range
laserRanges[numLaserRanges].startCol = -1;
laserRanges[numLaserRanges].endCol = -1;
}
// There was a false positive
else
{
laserRanges[numLaserRanges].startCol = -1;
}
}
} // foreach column
// If we have a valid laser region
if (numLaserRanges > 0)
{
int rangeChoice = DetectBestLaserRange(laserRanges, numLaserRanges, prevLaserCol);
prevLaserCol = laserRanges[rangeChoice].centerCol;
double centerCol = DetectLaserRangeCenter(laserRanges[rangeChoice],magSquare);
PointF location = new PointF((float)centerCol, y);
laserLocations.Add(location);
// If this is the first row that a laser is detected in, set the firstRowLaserCol member
if (laserLocations.Count == 1)
{
firstRowLaserCol = laserRanges[rangeChoice].startCol;
}
}
} // foreach row
public List<PointF> Process(LockBitmap before, Bitmap after, LockBitmap debuggingImage)
{
LockBitmap a = new LockBitmap(after);
List<PointF> ret = SubProcess(before, a, debuggingImage, m_laserMagnitudeThreshold);
a.UnlockBits();
return ret;
}
/**
* Detects the laser in x, y pixel coordinates.
* @param debuggingImage - If non-NULL, it will be populated with the processed image that was used to detect the laser locations.
* This can be helpful when debugging laser detection issues.
* @param laserLocations - Output variable to store the laser locations.
* @param maxNumLocations - The maximum number of locations to store in @p laserLocations.
* @param thresholdFactor - Scales the laser threshold by this amount. default = 1.0
* @return Returns the number of locations written to @p laserLocations.
*/
public List<PointF> Process(Bitmap before, Bitmap after, Bitmap debuggingImage)
{
LockBitmap b = new LockBitmap(before);
LockBitmap d = debuggingImage != null ? new LockBitmap(debuggingImage) : null;
List<PointF> ret = Process(b, after, d);
b.UnlockBits();
if(d!=null)
d.UnlockBits();
return ret;
}
