Simple3DScan.TransformImage Class Reference

Does transformations of an image More...

Static Public Member Functions
static Blob[]	GetBlobsFromGrayScaleBitmap (Bitmap bitmap)
	Gets the blobs from gray scale bitmap. More...
static Blob	GetLargestBlob (IEnumerable< Blob > blobs)
	Gets the largest BLOB. More...
static float	GetLaserLinePosition (Image laserImage, Filter filter)
	Gets the laser line position. More...
static float	GetLaserLinePosition (Image grayImage)
	Gets the laser line position. More...
static float	GetLaserLinePosition (Blob[] blobs)
	Gets the laser line position. More...
static Bitmap	SimpleSkeletonizationImage (Bitmap bitmap)
	Skeletonization for image. More...
static Bitmap	CannyEdgeImage (Bitmap bitmap)
	CannyEdge filters the image. More...
static Bitmap	HomogenityEdgeDetectorImage (Bitmap bitmap)
	Homogenity edge detector for image. More...
static Bitmap	SobelEdgeDetectorImage (Bitmap bitmap)
	Sobels edge detector for image. More...
static List< ColorPoint3D >	TransformStepImage (Image skeletonImage, Image colorImage, int step, bool microSteps, Information configuration)
	Transforms the step image. More...

Static Package Functions
static Bitmap	CreateGrayImageOfLaser (Bitmap image, Filter filter)
	Creates the gray image of laser. More...
static List< Blob >	ClearBlobs (Blob[] blobs, float laserLineX)
	Clears the blobs. Top < 100 in y is seen as only needed for laserline. Left > 100 in x are seen as outside of turntable Right < 950 in x are seen as outside of turntable. Down > 900 in y are seen as outside of turntable. Pixel left from lase cannot exist (obviously ;-) ) More...
static ColorPoint3D	ConvertWorldPointToCameraPixel (this ColorPoint3D worldPoint, Information configuration)
	Converts the world point to camera pixel. More...
static ColorPoint3D	ConvertCameraPixelToWorldPoint (this ColorPoint3D cameraPoint, Information configuration)
	Converts the camera pixel to world point. More...

Detailed Description

Does transformations of an image

Definition at line 18 of file TransformImage.cs.

Member Function Documentation

static Bitmap Simple3DScan.TransformImage.CannyEdgeImage ( Bitmap  bitmap )

static

CannyEdge filters the image.

Parameters

bitmap

The bitmap.

Returns

Definition at line 282 of file TransformImage.cs.

        {
            CannyEdgeDetector filter = new CannyEdgeDetector();
            return ReturnFilteredImage(bitmap, filter);
        }

static List<Blob> Simple3DScan.TransformImage.ClearBlobs ( Blob[]  blobs, float  laserLineX  )

staticpackage

Clears the blobs. Top < 100 in y is seen as only needed for laserline. Left > 100 in x are seen as outside of turntable Right < 950 in x are seen as outside of turntable. Down > 900 in y are seen as outside of turntable. Pixel left from lase cannot exist (obviously ;-) )

Parameters

blobs	The blobs.
laserLineX	The laser line x.

Returns

Exceptions

System.NotImplementedException

Definition at line 249 of file TransformImage.cs.

        {
            const float safetyFrame = 10f; // pixels directly near laser are seen as laserline

            return
                blobs.Where(
                            blob =>
                                blob.CenterOfGravity.X > laserLineX + safetyFrame &&
                                   // blob.CenterOfGravity.X > 100 && blob.CenterOfGravity.X < 950 &&
                                    blob.CenterOfGravity.Y > 100 && blob.CenterOfGravity.Y < 860)
                     .ToList();
        }

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static ColorPoint3D Simple3DScan.TransformImage.ConvertCameraPixelToWorldPoint ( this ColorPoint3D  cameraPoint, Information  configuration  )

staticpackage

Converts the camera pixel to world point.

Parameters

cameraPoint	The camera point in pixel.
configuration	The configuration.

Returns

Camera point in cm

Definition at line 398 of file TransformImage.cs.

        {
            ColorPoint3D worldPoint = new ColorPoint3D(cameraPoint.X - configuration.Camera.Width / 2.0f,
                                                 cameraPoint.Y - configuration.Camera.Height * configuration.VisibleLimit.PercentFromTop / 100,
                                                 0);

            return new ColorPoint3D(worldPoint.X * configuration.Camera.WorldWidth / configuration.Camera.Width,
                               -worldPoint.Y * configuration.Camera.WorldHeight / configuration.Camera.Height,
                               0);
        }

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static ColorPoint3D Simple3DScan.TransformImage.ConvertWorldPointToCameraPixel ( this ColorPoint3D  worldPoint, Information  configuration  )

staticpackage

Converts the world point to camera pixel.

Parameters

worldPoint	The world point.
configuration	The configuration.

Returns

Point in pixel

Definition at line 379 of file TransformImage.cs.

        {
            ColorPoint3D origin = new ColorPoint3D(configuration.Camera.Width / 2.0f,
                                         configuration.Camera.Height * configuration.VisibleLimit.PercentFromTop / 100,
                                         0);

            return new ColorPoint3D(worldPoint.X * configuration.Camera.Width / configuration.Camera.WorldWidth + origin.X,
                               -worldPoint.Y * configuration.Camera.Height / configuration.Camera.WorldHeight + origin.Y,
                               0);
        }

static Bitmap Simple3DScan.TransformImage.CreateGrayImageOfLaser ( Bitmap  image, Filter  filter  )

staticpackage

Creates the gray image of laser.

Parameters

image	The image.
filter	The filter.

Returns

Exceptions

NotImplementedException

Definition at line 27 of file TransformImage.cs.

        {
            Bitmap filteredImage = (Bitmap) image.Clone();

            if (filter.UseHslFilter)
            {
                HSLFiltering hslFilter = new HSLFiltering
                {
                    Saturation = new Range(filter.SaturationMin, filter.SaturationMax),
                    Luminance = new Range(filter.LuminanceMin, filter.LuminanceMax),
                    Hue = new IntRange(filter.HueMin, filter.HueMax)
                };
                hslFilter.ApplyInPlace(filteredImage);
            }

            if (filter.UseColorFilter)
            {
                ColorFiltering colorFilter = new ColorFiltering
                {
                    Red = new IntRange(filter.FilterRedMin, filter.FilterRedMax),
                    Blue = new IntRange(filter.FilterBlueMin, filter.FilterBlueMax),
                    Green = new IntRange(filter.FilterGreenMin, filter.FilterGreenMax)
                };

                colorFilter.ApplyInPlace(filteredImage);
            }

            IFilter grayFilter;

            switch (filter.GrayFilter)
            {
                case GrayFilter.BT709:
                    //RGB image to 8bpp gray scale 
                    grayFilter = Grayscale.CommonAlgorithms.BT709;
                    break;
                case GrayFilter.RMY:
                    grayFilter = Grayscale.CommonAlgorithms.RMY;
                    break;
                case GrayFilter.Y:
                    grayFilter = Grayscale.CommonAlgorithms.Y;
                    break;
                default:
                    //RGB image to 8bpp gray scale 
                    grayFilter = Grayscale.CommonAlgorithms.BT709;
                    break;
            }

            Bitmap grayImage = grayFilter.Apply(filteredImage);

            if (filter.UseThresholdFilter)
            {
                Threshold thresholdFilter = new Threshold(filter.Threshold);
                thresholdFilter.ApplyInPlace(grayImage);
            }

            if (filter.UseErosionFilter)
            {
                //erosion filter to filter out small unwanted pixels 
                Erosion3x3 errossionFilter = new Erosion3x3();
                errossionFilter.ApplyInPlace(grayImage);
            }

            if (filter.UseDiletationFilter)
            {
                //dilation filter
                Dilatation3x3 dilatationFilter = new Dilatation3x3();
                dilatationFilter.ApplyInPlace(grayImage);
            }

            return grayImage;
        }

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static Blob [] Simple3DScan.TransformImage.GetBlobsFromGrayScaleBitmap ( Bitmap  bitmap )

static

Gets the blobs from gray scale bitmap.

Parameters

bitmap

The bitmap.

Returns

Definition at line 151 of file TransformImage.cs.

        {
            BlobCounter blobCounter = new BlobCounter { ObjectsOrder = ObjectsOrder.YX };//MaxWidth = 10, ObjectsOrder = ObjectsOrder.YX };
            blobCounter.ProcessImage(bitmap);
            Blob[] blobs = blobCounter.GetObjectsInformation();
            return blobs;
        }

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static Blob Simple3DScan.TransformImage.GetLargestBlob ( IEnumerable< Blob >  blobs )

static

Gets the largest BLOB.

Parameters

blobs

The blobs.

Returns

Definition at line 166 of file TransformImage.cs.

        {
            int maxSize = 0;
            Blob maxObject = new Blob(0, new Rectangle(0, 0, 0, 0));
            foreach (Blob blob in blobs)
            {
                int blobSize = blob.Rectangle.Width * blob.Rectangle.Height;
                if (blobSize <= maxSize)
                    continue;

                maxSize = blobSize;
                maxObject = blob;
            }

            return maxObject;
        }

static float Simple3DScan.TransformImage.GetLaserLinePosition ( Image  laserImage, Filter  filter  )

static

Gets the laser line position.

Parameters

laserImage	The laser image.
filter	The filter.

Returns

Definition at line 191 of file TransformImage.cs.

        {
            Image grayImage = CreateGrayImageOfLaser((Bitmap)laserImage, filter);
            Image skeletonImage = SimpleSkeletonizationImage((Bitmap)grayImage);
            Blob[] blobs = GetBlobsFromGrayScaleBitmap((Bitmap)skeletonImage);
            return GetLaserLinePosition(blobs);
        }

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static float Simple3DScan.TransformImage.GetLaserLinePosition ( Image  grayImage )

static

Gets the laser line position.

Parameters

grayImage

The gray image.

Returns

Definition at line 206 of file TransformImage.cs.

        {
            Image skeletonImage = SimpleSkeletonizationImage((Bitmap)grayImage);
            Blob[] blobs = GetBlobsFromGrayScaleBitmap((Bitmap)skeletonImage);
            return GetLaserLinePosition(blobs);
        }

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static float Simple3DScan.TransformImage.GetLaserLinePosition ( Blob[]  blobs )

static

Gets the laser line position.

Parameters

blobs

The blobs.

Returns

Definition at line 220 of file TransformImage.cs.

        {
            // take laserlight from top 100 pixels and ignore lasers outside a valid range.
            List<Blob> blobList =
                blobs.Where(
                            blob => blob.CenterOfGravity.Y < 100)// && blob.CenterOfGravity.X > 100 && blob.CenterOfGravity.X < 800)
                     .ToList(); // also var blobList = ... would be possible. .ToList() prevents lazy evaluation and evaluates linq directly.
            if (blobList.Count < 1)
                blobList =
                    blobs.Where(
                                blob => blob.Rectangle.Y < 100)// && blob.CenterOfGravity.X > 100 && blob.CenterOfGravity.X < 800)
                         .ToList();
            return blobList.Sum(blob => blob.CenterOfGravity.X) / blobList.Count;
        }

static Bitmap Simple3DScan.TransformImage.HomogenityEdgeDetectorImage ( Bitmap  bitmap )

static

Homogenity edge detector for image.

Parameters

bitmap

The bitmap.

Returns

Definition at line 295 of file TransformImage.cs.

        {
            HomogenityEdgeDetector filter = new HomogenityEdgeDetector();
            return ReturnFilteredImage(bitmap, filter);
        }

static Bitmap Simple3DScan.TransformImage.SimpleSkeletonizationImage ( Bitmap  bitmap )

static

Skeletonization for image.

Parameters

bitmap

The bitmap.

Returns

Definition at line 269 of file TransformImage.cs.

        {
            SimpleSkeletonization filter = new SimpleSkeletonization();
            return ReturnFilteredImage(bitmap, filter);
        }

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static Bitmap Simple3DScan.TransformImage.SobelEdgeDetectorImage ( Bitmap  bitmap )

static

Sobels edge detector for image.

Parameters

bitmap

The bitmap.

Returns

Image with appleid SolidEdge-detection

Definition at line 308 of file TransformImage.cs.

        {
            SobelEdgeDetector filter = new SobelEdgeDetector();
            return ReturnFilteredImage(bitmap, filter);
        }

static List<ColorPoint3D> Simple3DScan.TransformImage.TransformStepImage ( Image  skeletonImage, Image  colorImage, int  step, bool  microSteps, Information  configuration  )

static

Transforms the step image.

Parameters

skeletonImage	The skeleteon image.
colorImage	The color image.
step	The step.
microSteps	if set to true [micro steps].
configuration	The configuration.

Returns

Definition at line 333 of file TransformImage.cs.

        {

            List<ColorPoint3D> points = new List<ColorPoint3D>();
            Blob[] blobs = GetBlobsFromGrayScaleBitmap((Bitmap)skeletonImage);
            float laserLineX = GetLaserLinePosition(blobs);

            ColorPoint3D worldCameraSourcePosition = new ColorPoint3D(configuration.Camera.WorldCoordinates.X,
                                                            configuration.Camera.WorldCoordinates.Y,
                                                            configuration.Camera.WorldCoordinates.Z);

            ColorPoint3D worldLaserSourcePosition = new ColorPoint3D(configuration.Laser.WorldCoordinates.X,
                                                           configuration.Laser.WorldCoordinates.Y,
                                                           configuration.Laser.WorldCoordinates.Z);

            ColorPoint3D worldLaserLinePosition = ConvertCameraPixelToWorldPoint(new ColorPoint3D(laserLineX, 0, 0), configuration);

            Line laserline = new Line(worldLaserSourcePosition, worldLaserLinePosition); // should stay the same

            // filter irrelevant blobs
            List<Blob> relevantBlobs = ClearBlobs(blobs, laserLineX);

            foreach (Blob blob in relevantBlobs)
            {
                ColorPoint3D worldPoint = ComputeDepthByIntersection(blob, worldCameraSourcePosition, laserline, configuration);
                worldPoint.Y = ScaleY(worldPoint, worldCameraSourcePosition);

                if (!AdjustPointToTurnTable(step, ref worldPoint, microSteps, configuration))  // adjust &  test wether point is over turntable
                    continue;
                worldPoint.Color = colorImage != null 
                    ? ((Bitmap) colorImage).GetPixel((int)blob.CenterOfGravity.X, (int)blob.CenterOfGravity.Y) 
                    : Color.White;
                points.Add(worldPoint);
            }

            return points;
        }

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The documentation for this class was generated from the following file:

• C:/Entwicklung/Simple3DScan/Simple3DScan/Simple3DScan/TransformImage.cs