using System;

​

namespace MyApplication

{

  public class Program

  {

    static void Print_Array(double[,] arr)

    {

      for (int row = 0; row < arr.GetLength(0); row++)

      {

        for (int col = 0; col < arr.GetLength(1); col++)

        { 

         Console.WriteLine("Element({0},{1})={2}", row, col, arr[row, col]);

        }

      }

    }

    static void Print_Array_Row(double[,] arr, int row_no)

    {

      for (int row = 0; row < arr.GetLength(0); row++)

      {

         Console.WriteLine("Element({0})={1}", row, arr[row,row_no]);

      }

    }

    static void Array_SetValue(double[,] arr, int offset_top_start, int offset_top_end, int offset_bot_start, int offset_bot_end, int Value)

    {

      for (int row = offset_top_start; row < arr.GetLength(0) - offset_top_end; row++)

      {

        for (int col = offset_bot_start; col < arr.GetLength(1) - offset_bot_end; col++)

        { 

          arr[row,col] = Value;

        }

      } 

    } 

    static void random(int Value)

    {

        var rnd = new Random(); 

    } 

    static void Array_rnd(double[,] arr, int rnd_start, int rnd_end)

    {

      var rnd = new Random();

      for (int row = 0; row < arr.GetLength(0) - 0; row++)

      {

        for (int col = 0; col < arr.GetLength(1) - 0; col++)

        { 

          arr[row,col] += rnd.Next(rnd_start,rnd_end);

        }

      } 

    }

    public static void Main(string[] args)

    {

    var rnd = new Random();

    double[,] picture = new double[1000,50];    //The purpose of picture is to simulate an actual photo input from a sensor

    for (int steps = 0; steps < 100; steps++)

    {   

      Array_SetValue(picture, 0, 0, 0, 0, 10);          //Set all values in picture = 10

      int rnd_offset = 20;

      Array_SetValue(picture, 100 + rnd.Next(-rnd_offset,rnd_offset), 100 + rnd.Next(-rnd_offset,rnd_offset), 0, 0, 70);        //Set the majority of middle values = 70 to simulate carbon structure

      Array_rnd(picture, -10, 10);

      double[,] horz_edge_det_mat = {{1, 1, 1},{0, 0 ,0},{-1, -1, -1}}; //Horizontal edge detection matrix  

      double[,] post_picture = new double [picture.GetLength(0) - 2,picture.GetLength(1) - 2]; //Array with values post edge detection

      double edge_picture = 0;                  //Product of edge detection matrix * picture input

      double sum_edgepicture_col = 0;           //Sum of edge_picture by column

      double sum_edgepicture = 0;               //Total product of edge detection matrix * picture input

      //We multiply the edge detection matrix with every single corresponding position on the picture array. The product of this is saved in edge_picture, where 0 is no edge and high values = edge

      for (int row = 1; row < (picture.GetLength(0)-1); row++)

      {

        for (int col = 1; col < picture.GetLength(1)-1; col++)

          { 

            for (int row_mat = 0; row_mat < (horz_edge_det_mat.GetLength(0)); row_mat++) 

              {

              for (int col_mat = 0; col_mat < (horz_edge_det_mat.GetLength(1)); col_mat++)

                {

                  edge_picture = horz_edge_det_mat[row_mat,col_mat] * picture[(row-1) + row_mat,(col-1) + col_mat];

                  sum_edgepicture_col += edge_picture;

                }

              sum_edgepicture += sum_edgepicture_col;

              sum_edgepicture_col = 0;          //Resetting to 0 so we can keep the variable for next loop

              }

            post_picture[row-1,col-1] = sum_edgepicture;

            sum_edgepicture = 0;                //Resetting to 0 so we can keep the variable for next loop

          }

      } 

      double max = 0;

      int index_max = 0;

      for (int col = 0; col < post_picture.GetLength(1); col++)

      {

        max = post_picture[0,col];

        for (int row = 0; row < post_picture.GetLength(0); row++)

        {

          if (max < post_picture[row,col])

          {

            max = post_picture[row,col];

            index_max = row;

          }

        }

      //Console.WriteLine(index_max);

      }

      double min = 0;

      int index_min = 0;

      for (int col = 0; col < post_picture.GetLength(1); col++)

      {

        max = post_picture[0,col];

        for (int row = 0; row < post_picture.GetLength(0); row++)

        {

          if (min > post_picture[row,col])

          {

            min = post_picture[row,col];

            index_min = row;

          }

        }

      //Console.WriteLine(index_min);

      }

      int current_center = (index_max + index_min) / 2 - 500;

      Console.WriteLine(current_center);

        //Check that the edge was found

      //Console.WriteLine(post_picture[897,0]);

      //Console.WriteLine(post_picture[898,0]);

      //Console.WriteLine(post_picture[899,0]);

      //Console.WriteLine(post_picture[900,0]);

      //Print_Array_Row(post_picture, 0);

    }

    }

  }

}