/// <summary>
/// Creates a new feature vector from the tracking result.
/// </summary>
/// <param name="result"></param>
/// <returns>An option of newly created Single array.</returns>
public Option<Array> Compute(TrackingResult result)
{
Single[] feature = null;
if (result.RightHandRelPos.IsSome && result.DepthBoundingBoxes.Count > 0) {
var pos = result.RightHandRelPos.Value;
var ptr = ComputeFeature(pos, result.DepthImage, result.DepthBoundingBoxes.Last(),
result.ColorImage, result.ColorBoundingBoxes.LastOrDefault());
if (!ptr.Equals(IntPtr.Zero)) {
feature = new Single[FeatureLength];
Marshal.Copy(ptr, feature, 0, FeatureLength);
return new Some<Array>(feature);
}
}
return new None<Array>();
}
/// <summary>
/// Creates a new feature array.
/// </summary>
/// <param name="result"></param>
/// <returns></returns>
public Option<Array> Compute(TrackingResult result)
{
if (result.RightHandRelPos.IsSome) {
var feature = new float[MotionFeatureLength + DescriptorLength];
var relPos = result.RightHandRelPos.Value;
feature[0] = (float)relPos.X;
feature[1] = (float)relPos.Y;
feature[2] = (float)relPos.Z;
AddImageFeature(result.ColorImage, result.ColorBoundingBoxes.Last(), feature,
MotionFeatureLength);
AddImageFeature(result.DepthImage, result.DepthBoundingBoxes.Last(), feature,
MotionFeatureLength + FeatureImageWidth * FeatureImageWidth);
return new Some<Array>(feature);
}
return new None<Array>();
}
/// <summary>
/// Creates a new feature array.
/// </summary>
/// <param name="result"></param>
/// <returns></returns>
public Option<Array> Compute(TrackingResult result)
{
if (result.RightHandRelPos.IsSome) {
var colorBb = result.ColorBoundingBoxes.Last();
var descriptorLen = colorBb.Width * colorBb.Height;
var feature = new float[MotionFeatureLength + descriptorLen + 2];
var relPos = result.RightHandRelPos.Value;
feature[0] = (float)relPos.X;
feature[1] = (float)relPos.Y;
feature[2] = (float)relPos.Z;
feature[3] = colorBb.Width;
feature[4] = colorBb.Height;
AddImageFeature(result.ColorImage, colorBb, feature, MotionFeatureLength + 2);
return new Some<Array>(feature);
}
return new None<Array>();
}
/// <summary>
/// Creates a new feature array.
/// </summary>
/// <param name="result"></param>
/// <returns></returns>
public Option <Array> Compute(TrackingResult result)
{
if (result.RightHandRelPos.IsSome)
{
var feature = new float[MotionFeatureLength + DescriptorLength];
var relPos = result.RightHandRelPos.Value;
feature[0] = (float)relPos.X;
feature[1] = (float)relPos.Y;
feature[2] = (float)relPos.Z;
AddImageFeature(result.ColorImage, result.ColorBoundingBoxes.Last(), feature,
MotionFeatureLength);
AddImageFeature(result.DepthImage, result.DepthBoundingBoxes.Last(), feature,
MotionFeatureLength + FeatureImageWidth * FeatureImageWidth);
return(new Some <Array>(feature));
}
return(new None <Array>());
}
/// <summary>
/// Creates a new feature vector from the tracking result.
/// </summary>
/// <param name="result"></param>
/// <returns>An option of newly created Single array.</returns>
public Option <Array> Compute(TrackingResult result)
{
Single[] feature = null;
if (result.RightHandRelPos.IsSome && result.DepthBoundingBoxes.Count > 0)
{
var pos = result.RightHandRelPos.Value;
var ptr = ComputeFeature(pos, result.DepthImage, result.DepthBoundingBoxes.Last(),
result.ColorImage, result.ColorBoundingBoxes.LastOrDefault());
if (!ptr.Equals(IntPtr.Zero))
{
feature = new Single[FeatureLength];
Marshal.Copy(ptr, feature, 0, FeatureLength);
return(new Some <Array>(feature));
}
}
return(new None <Array>());
}
/// <summary>
/// Creates a new feature array.
/// </summary>
/// <param name="result"></param>
/// <returns></returns>
public Option <Array> Compute(TrackingResult result)
{
if (result.RightHandRelPos.IsSome)
{
var colorBb = result.ColorBoundingBoxes.Last();
var descriptorLen = colorBb.Width * colorBb.Height;
var feature = new float[MotionFeatureLength + descriptorLen + 2];
var relPos = result.RightHandRelPos.Value;
feature[0] = (float)relPos.X;
feature[1] = (float)relPos.Y;
feature[2] = (float)relPos.Z;
feature[3] = colorBb.Width;
feature[4] = colorBb.Height;
AddImageFeature(result.ColorImage, colorBb, feature, MotionFeatureLength + 2);
return(new Some <Array>(feature));
}
return(new None <Array>());
}
void UpdateDisplay(TrackingResult result) {
colorCanvas.Children.Clear();
depthCanvas.Children.Clear();
if (result.DepthBoundingBoxes.Count > 0) {
VisualUtil.DrawRectangle(depthCanvas, result.DepthBoundingBoxes.Last(), Brushes.Red,
(float)depthCanvas.ActualWidth / HandInputParams.DepthWidth);
}
if (handTracker != null) {
if (handTracker is SalienceHandTracker)
UpdateSalienceHandTrackerDisplay();
else if (handTracker is StipHandTracker)
UpdateStipHandTrackerDisplay();
else if (handTracker is SimpleSkeletonHandTracker) {
UpdateSimpleHandTrackerDisplay();
}
}
if (displayDebug) {
if (result.DepthImage != null)
debugDepthDisplayManager.UpdateBitmap(result.DepthImage.Bytes);
if (result.ColorImage != null)
debugColorDisplayManager.UpdateBitmap(result.ColorImage.Bytes);
}
}
/// <summary>
/// Synchronized method. Updates gesture recognition with the current input.
/// </summary>
/// <param name="result"></param>
/// <param name="visualize"></param>
/// <returns></returns>
public String Update(TrackingResult result, bool visualize = false)
{
String gesture = "";
if (result.RightHandRelPos.IsSome && result.DepthBoundingBoxes.Count > 0) {
var pos = result.RightHandRelPos.Value;
var image = result.DepthImage;
var skin = result.ColorImage;
image.ROI = result.DepthBoundingBoxes.Last();
lock (this) {
gesture = processor.Update((float)pos.X, (float)pos.Y, (float)pos.Z, image.Ptr,
skin.Ptr, visualize);
reset = false;
}
image.ROI = Rectangle.Empty;
} else {
// No hand detected (hand may be out of field of view).
if (!reset) {
reset = true;
lock (this) {
processor.Reset();
}
}
}
return gesture;
}
