/// <summary>
/// Tries to find objects that are occluded.
/// </summary>
/// <param name="image"></param>
/// <param name="updateTime"></param>
/// <param name="outputImage"></param>
/// <param name="objects"></param>
private void UpdateOccludedObjects(Image<Rgb, byte> image, ref Image<Rgb, byte> outputImage, DateTime updateTime, RectangularObject[] objects)
{
var imageWidth = image.Width;
var imageHeight = image.Height;
var mask = new Image<Gray, byte>(imageWidth, imageHeight);
var occludedObjects = objects.Where(o => !Equals(o.LastUpdate, updateTime)).ToArray();
// ignore if no objects are occluded but continue in case is render content set true to update debug view
if (occludedObjects.Length < 1 && !IsRenderContent)
return;
foreach (var obj in occludedObjects)
mask.Draw(obj.Shape, new Gray(1), -1);
if (_depthImage == null) return;
var occludedPartsImage = new Image<Gray, float>(imageWidth, imageHeight);
var depthMapBinary = _depthImage.ThresholdBinaryInv(new Gray(255), new Gray(255));
var depthMap = depthMapBinary;
if (depthMap.Width != imageWidth || depthMap.Height != imageHeight)
{
var resizedDepthMap = new Image<Gray, float>(imageWidth, imageHeight);
CvInvoke.cvResize(depthMap.Ptr, resizedDepthMap.Ptr, INTER.CV_INTER_CUBIC);
depthMap.Dispose();
depthMap = resizedDepthMap;
}
CvInvoke.cvCopy(depthMap.Ptr, occludedPartsImage.Ptr, mask);
occludedPartsImage = occludedPartsImage.Erode(2).Dilate(2);
var debugImage3 = occludedPartsImage.Convert<Rgb, byte>();
var fixedImage = image.Or(debugImage3);
fixedImage = fixedImage.Dilate(2).Erode(2);
var debugImage = fixedImage.Copy();
Task.Factory.StartNew(() =>
{
var bitmapSource = debugImage.ToBitmapSource(true);
debugImage.Dispose();
return bitmapSource;
}).ContinueWith(t => DebugImageSource = t.Result);
var outputImageEnclosed = outputImage;
Parallel.ForEach(occludedObjects, obj => FindObjectByBlankingKnownObjects(true, fixedImage, ref outputImageEnclosed, updateTime, objects, obj));
}
/// <summary>
/// Find an object by blanking out known objects except for the parameter object in the
/// source image. If obj == null it will blank out all objects.
/// </summary>
/// <param name="occlusionTracking"></param>
/// <param name="image"></param>
/// <param name="outputImage"></param>
/// <param name="objects"></param>
/// <param name="obj"></param>
/// <param name="updateTime"></param>
private RectangularObject[] FindObjectByBlankingKnownObjects(bool occlusionTracking, Image<Rgb, byte> image, ref Image<Rgb, byte> outputImage, DateTime updateTime, RectangularObject[] objects, RectangularObject obj = null)
{
var objectsToBlank = obj != null ? objects.Where(o => o != obj) : objects;
// Blank previous objects from previous frame
var blankedImage = image.Copy();
foreach (var otherObject in objectsToBlank)
{
blankedImage.Draw(otherObject.Shape, Rgbs.Black, -1);
}
var blankedImageGray = blankedImage.Convert<Gray, Byte>();
var newObjects = FindRectangles(occlusionTracking, blankedImageGray, ref outputImage, updateTime, objects);
blankedImageGray.Dispose();
return newObjects;
}
