smart-bow-infrared/Assets/InfraredProject/WebCamera/Script/ZIM/InfraredLocate/InfraredSpot/PixelSpotArea.cs

using o0;
using o0.Num;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using UnityEngine;
using ZIM.Unity;
using Color = UnityEngine.Color;

namespace ZIM
{
    // 亮区的点用来定位(计算center)，泛光区域的点用来计算radius
    // 用格子进行聚类，格子的尺寸用函数UpdateGridLength更新
    public class PixelSpotArea: ISpotArea
    {
        public static int gridLength0 = 2;     // 亮区
        public static int gridLength1 = 8;     // 边缘泛光
        public static void UpdateGridLength(int sampling)       // 根据采样密度更新格子的尺寸
        {
            gridLength0 = sampling * 2;
            gridLength1 = sampling * 8;
        }

        public static (int x, int y) GetGrid0(Vector2 v)
        {
            var m = (int)(v.x / gridLength0);
            var n = (int)(v.y / gridLength0);
            return (m, n);
        }

        public static (int x, int y) GetGrid1(Vector2 v)
        {
            var m = (int)(v.x / gridLength1);
            var n = (int)(v.y / gridLength1);
            return (m, n);
        }

        // 聚类算法
        public static List<ISpotArea> Cluster(List<Vector2> spotPoint, List<Vector2> brightPoint, Func<Vector2, bool> PointFilter = null)
        {
            var spotArea = new List<PixelSpotArea>();
            for (int i = 0; i < spotPoint.Count; i++)
            {
                var p = spotPoint[i];
                if (PointFilter != null && !PointFilter(p))        // 筛选是否在屏幕内
                    continue;

                var grid = PixelSpotArea.GetGrid0(p);
                var join = new SortedList<int, PixelSpotArea>();
                for (int j = 0; j < spotArea.Count; j++)
                {
                    var area = spotArea[j];
                    if (area.Include0(grid))
                        join.Add(j, area);
                }
                if (join.Count == 0)
                    spotArea.Add(new PixelSpotArea(p, grid, PixelSpotArea.GetGrid1(p)));
                else if (join.Count == 1)
                    join.First().Value.Join(p, grid, PixelSpotArea.GetGrid1(p));
                else
                {
                    var combine = new PixelSpotArea(join.Values);
                    combine.Join(p, grid, PixelSpotArea.GetGrid1(p));
                    spotArea.Add(combine);
                    for (int j = join.Count - 1; j >= 0; j--)
                        spotArea.RemoveAt(join.ElementAt(j).Key);
                }
            }
            // 至此亮区添加完，接下来添加泛光区
            if (spotArea.Count != 0)
            {
                // brightPoint合并到区域中
                // 先用亮区计算一遍半径
                foreach (var a in spotArea)
                    a.CalculateRadius();

                for (int i = 0; i < brightPoint.Count; i++)
                {
                    var p = brightPoint[i];
                    var grid = PixelSpotArea.GetGrid1(p);
                    var spotDistance = new float[spotArea.Count];
                    for (int j = 0; j < spotArea.Count; j++)
                    {
                        var area = spotArea[j];
                        if (area.Include1(grid))
                            spotDistance[j] = (p - area.Centroid).magnitude - area.Radius;
                        else
                            spotDistance[j] = int.MaxValue;
                    }
                    var near = spotDistance.MinIndex();
                    if (spotDistance[near] != int.MaxValue)
                        spotArea[near].Pixels1.Add(p);
                }
            }

            // 添加亮区后计算一遍半径
            foreach (var a in spotArea)
                a.CalculateRadius();

            return spotArea.Select(i => i as ISpotArea).ToList();
        }

        Vector2 centroid = default;       // 该项目里center不可能等于0,0
        public Vector2 Centroid
        {
            set { centroid = value; }
            // 在添加完亮区之后可以调用
            get
            {
                if (centroid != default)
                    return centroid;
                return CalculateCentroid();
            }
        }
        float radius = 0;
        public float Radius
        {
            set { radius = value; }
            get
            {
                if (radius != 0)
                    return radius;
                return CalculateRadius();
            }
        }

        public Vector2 CalculateCentroid()
        {
            centroid = Vector2.zero;
            foreach (var p in Pixels0)
            {
                centroid += p;
            }
            return centroid /= Pixels0.Count;
        }

        public float CalculateRadius()
        {
            //var radiusDic = new Dictionary<int, float>() { { 0, 0 }, { 45, 0 }, { 90, 0 }, { 135, 0 }, { 180, 0 }, { 225, 0 }, { 270, 0 }, { 315, 0 } };
            var radiusDic = new float[8];
            foreach (var p in Pixels0)
            {
                var dir = p - Centroid;
                var radius = dir.magnitude;
                var degreeI = radius < 0.00001f ? 0 : (int)(dir.DegreeToXAxis() / 45);
                if (degreeI > 7) degreeI = 0;       // 防止正好360度

                if (radius > radiusDic[degreeI])
                    radiusDic[degreeI] = radius;
            }

            foreach (var p in Pixels1)
            {
                var dir = p - Centroid;
                var radius = dir.magnitude;
                var degreeI = radius < 0.00001f ? 0 : (int)(dir.DegreeToXAxis() / 45);
                if (degreeI > 7) degreeI = 0;

                if (radius > radiusDic[degreeI])
                    radiusDic[degreeI] = radius;
            }
            return radius = radiusDic.Mean();
        }

        public List<Vector2> Pixels0 { get; set; }
        public List<Vector2> Pixels1 { get; set; }

        HashSet<(int, int)> grids0;
        HashSet<(int, int)> grids1;

        public PixelSpotArea(Vector2 location, (int, int) grid0, (int, int) grid1)
        {
            Pixels0 = new List<Vector2>(50);       // 预估的初始容量
            Pixels1 = new List<Vector2>(100);
            this.grids0 = new HashSet<(int, int)>();        // hashset如果设置了太大的容量会降低效率
            this.grids1 = new HashSet<(int, int)>();
            Join(location, grid0, grid1);
        }

        public PixelSpotArea(IList<PixelSpotArea> areas)
        {
            Pixels0 = new List<Vector2>(50);
            Pixels1 = new List<Vector2>(100);
            grids0 = new HashSet<(int, int)>();
            grids1 = new HashSet<(int, int)>();
            foreach (var a in areas)
            {
                Pixels0.AddRange(a.Pixels0);
                grids0.AddRange(a.grids0);
                grids1.AddRange(a.grids1);
                //Center += a.Center * a.SpotPointCount;
                //SpotPointCount += a.SpotPointCount;
            }
            //Center /= SpotPointCount;
        }

        public bool Include0((int, int) grid) => grids0.Contains(grid);
        public bool Include1((int, int) grid) => grids1.Contains(grid);

        public void Join(Vector2 point) => Join(point, GetGrid0(point), GetGrid1(point));
        public void Join(Vector2 point, (int x, int y) grid0, (int x, int y) grid1)
        {
            Pixels0.Add(point);
            //SpotPointCount++;
            //Center += (point - Center) / SpotPointCount;
            grids0.AddRange(new (int, int)[]
            {
                    (grid0.x + -1, grid0.y +  0) , (grid0.x + 1 , grid0.y + 0),
                    (grid0.x + 1,  grid0.y + -1) , (grid0.x + -1, grid0.y + 1),
                    (grid0.x + 0,  grid0.y + -1) , (grid0.x + 0 , grid0.y + 1),
                    (grid0.x + -1, grid0.y + -1) , (grid0.x + 1 , grid0.y + 1),
                    grid0
            });
            grids1.AddRange(new (int, int)[]
            {
                    (grid1.x + -1, grid1.y +  0) , (grid1.x + 1 , grid1.y + 0),
                    (grid1.x + 1,  grid1.y + -1) , (grid1.x + -1, grid1.y + 1),
                    (grid1.x + 0,  grid1.y + -1) , (grid1.x + 0 , grid1.y + 1),
                    (grid1.x + -1, grid1.y + -1) , (grid1.x + 1 , grid1.y + 1),
                    grid1
            });
        }

        // 不再join之后，才可以用add添加周围泛光
        //public void Add(Vector2 point)
        //{
        //    Pixels1.Add(point);
        //}

        public float TotalBrightness(Color[] pixels, Func<int, int, int> Vector2ToIndex, int outer_size = 3)
        {
            (int x, int y) rectMin = ((int)(Centroid.x - Radius - outer_size), (int)(Centroid.y - Radius - outer_size));
            (int x, int y) rectMax = ((int)(Centroid.x + Radius + outer_size), (int)(Centroid.y + Radius + outer_size));

            var total = 0f;
            Parallel.For(rectMin.x, rectMax.x, (i) =>
            {
                var t = 0;
                for (int j = rectMin.y; j < rectMax.y; j++)
                {
                    var index = Vector2ToIndex(i, j);
                    var b = pixels[index].Brightness(64);
                    t += b;
                }
                lock (InfraredLocate.locker)
                {
                    total += t;
                }
            });
            //total /= (rectMax.y - rectMin.y) * (rectMax.x - rectMin.x);

            return total;
        }
    }

}