/// <summary>
/// Gets 3D points [units = meters] and calculated pf vector
/// </summary>
/// <param name="state">State.</param>
private void PreparePointCloud(HoloProxies.Engine.trackerState state)
{
boundingbox = findBoundingBoxFromCurrentState(state);
for (int i = 0; i < Height; i++)
{
for (int j = 0; j < Width; j++)
{
int idx = i * Width + j;
// if point is not in the bounding box
if (j < boundingbox.x || j >= boundingbox.z || i < boundingbox.y || i >= boundingbox.w)
{
// mark as not useful
Camera3DPoints[idx].X = 0;
Camera3DPoints[idx].Y = 0;
Camera3DPoints[idx].Z = 0;
PfVec[idx] = defines.OUTSIDE_BB;
}
else // if it's inside the box
{
Color pixel = ColorTexture.GetPixel(j, i);
PfVec[idx] = GetPf(pixel);
// Draw the bounding box region
if (drawBox && OnBoxEdge(j, i))
{
//ColorTextureVisual.SetPixel( j, i, Color.blue );
ColorTextureVisual.SetPixel(j, i, Color.Lerp(pixel, Color.blue, 0.3f));
}
}
}
} //end for
}
/// <summary>
/// Computes the pf image from histogram. Used for visualization.
/// </summary>
public void ComputePfImageFromHistogram()
{
float pf = 0;
for (int i = 0; i < Height; i++)
{
for (int j = 0; j < Width; j++)
{
int idx = i * Width + j;
Color pixel = ColorTexture.GetPixel(j, i);
pf = GetPf(pixel);
if (pf > 0.8f)
{
if (!ColorTextureVisual.GetPixel(j, i).Equals(Color.blue)) //&& Mask[idx] == defines.HIST_FG_PIXEL)
{
ColorTextureVisual.SetPixel(j, i, Color.Lerp(pixel, Color.green, 0.5f));
if (Mask[idx] == defines.HIST_FG_PIXEL)
{
ColorTextureVisual.SetPixel(j, i, Color.Lerp(pixel, Color.cyan, 0.5f));
}
}
}
else if (pf == 0.3f)
{
if (!ColorTextureVisual.GetPixel(j, i).Equals(Color.blue))
{
//ColorTextureVisual.SetPixel( j, i, Color.Lerp( pixel, Color.yellow, 0.2f ) );
}
}
}
}
ColorTextureVisual.Apply();
}
/// <summary>
/// Updates the frame by grabbing the rgb and depth from the Kinnect.
/// </summary>
/// <returns><c>true</c>, if frame was successfully updated, <c>false</c> otherwise.</returns>
/// <param name="state">State.</param>
public bool UpdateFrame(HoloProxies.Engine.trackerState state)
{
bool success = false;
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
//Debug.Log( "in here1" );
var colorFrame = frame.ColorFrameReference.AcquireFrame();
if (colorFrame != null)
{
//Debug.Log( "in here2" );
var depthFrame = frame.DepthFrameReference.AcquireFrame();
if (depthFrame != null)
{
//Debug.Log( "in here3" );
// get color data + texture
colorFrame.CopyConvertedFrameDataToArray(ColorData_full, ColorImageFormat.Rgba);
// get depth data
depthFrame.CopyFrameDataToArray(DepthData_full);
// Create a depth texture
//int index = 0;
//foreach (var ir in DepthData_full)
//{
// byte intensity = (byte)(ir >> 8);
// DepthRaw[index++] = intensity;
// DepthRaw[index++] = intensity;
// DepthRaw[index++] = intensity;
// DepthRaw[index++] = 255; // Alpha
//}
//DepthTexture_full.LoadRawTextureData( DepthRaw );
//DepthTexture_full.Apply(); TODO fix this
// dispose frame
depthFrame.Dispose();
depthFrame = null;
// Map depth to RGBD
AlignRGBD();
// Unproject to 3D points in camera space (based on bounding box)
UnprojectFrom2Dto3D();
// Downsample all data frames if necessary
DownsampleAndFilterRGBDImage();
// Apply downsampled texture
ColorTexture.LoadRawTextureData(ColorData);
ColorTextureVisual.LoadRawTextureData(ColorData);
// Unproject points to 3D space
PreparePointCloud(state);
if (plotHistogram)
{
for (int i = 0; i < HistogramTexture.height; i++)
{
for (int j = 0; j < HistogramTexture.width; j++)
{
int idx = i * HistogramTexture.width + j;
HistogramTexture.SetPixel(j, i, new Color(histogram.posterior[idx * 256], 0, 0));
}
}
HistogramTexture.Apply();
}
success = true;
}
colorFrame.Dispose();
colorFrame = null;
}
frame = null;
}
}
return(success);
}
