private void updateCam()
{
if (camera != null)
{
if (lastCameraUpdate.ElapsedMilliseconds > CAPTURELIMIT || cameraImage == null)
{
cameraImage = camera.GetImage();
leftStream = cameraImage.ColorImage;
if (showContrast)
{
rightStream = algorithm.PreviewImage(cameraImage);
}
else
{
rightStream = cameraImage.DepthImage;
}
leftStream.Apply();
rightStream.Apply();
lastCameraUpdate.Reset();
lastCameraUpdate.Start();
}
else if (!lastCameraUpdate.IsRunning)
{
lastCameraUpdate.Start();
}
}
}
public Texture2D PreviewImage(ColorDepthImage image)
{
colorImage = image.ColorImage;
depthImage = image.DepthImage;
averageColor = ImageUtils.CalculateAverageColor(image.ColorImage);
float stdDev = ImageUtils.CalculateStandardColorDeviation(colorImage, averageColor);
averageColor = ImageUtils.CalculateAverageColor(image.ColorImage, averageColor, stdDev, STDEV);
Contrastify(averageColor);
return(contrastImage);
}
public void ProcessImage(ICamera cam, ColorDepthImage image)
{
camera = cam;
camera.SetImage(image);
colorImage = image.ColorImage;
depthImage = image.DepthImage;
//Calculate the initial average color and standard deviation
averageColor = ImageUtils.CalculateAverageColor(colorImage);
float stdDev = ImageUtils.CalculateStandardColorDeviation(colorImage, averageColor);
//Refine average color
averageColor = ImageUtils.CalculateAverageColor(colorImage, averageColor, stdDev, STDEV);
//Maximize contrast in image and save the new image
Contrastify(averageColor);
//File.WriteAllBytes("contrast.png", contrastImage.EncodeToPNG());
//Identify clumps
CalculateTableNormal();
Clumpify();
logText = "Algorithm Log\n\n";
}
//Reset all the goods
public void OnRecompile()
{
//
if (camera != null)
{
camera.StopCapture();
}
camera = null;
algorithm = new ColorTrackingAlgorithm();
lastCameraUpdate = new Stopwatch();
leftStream = null;
rightStream = null;
cameraImage = null;
isStreaming = false;
streamText = "Start Stream";
scanCount = 0;
justRecompiled = false;
showContrast = false;
rightStreamLabel = "Depth Stream";
leftStreamLabel = "RGB Stream";
updateGUI = true;
selectedCameraIndex = 1;
}
