public (TrackingState, int[, ]) LocateFigures(KinectData kinectData, double fieldSize, byte[] canniedBytes, UserDefinedParameters userParameters, TrackingResultData resultData, Bitmap colorBitmap, TrackingState gameTrackingState)
{
// Collection of pixel colors for each field on chessboard
var colorsOfPointsOverIndividualFields = InitializeColorCollection();
colorsOfPointsOverIndividualFields = FillColorsOverFiledsArrayWithData(colorsOfPointsOverIndividualFields, kinectData, fieldSize, canniedBytes, userParameters);
var trackingState = DetectPresenceAndColorOfFiguresOnFields(colorsOfPointsOverIndividualFields, gameTrackingState, userParameters);
resultData.VisualisationBitmap = RenderLabelsToFigures(colorsOfPointsOverIndividualFields, trackingState, resultData.VisualisationBitmap);
var pointCounts = GetPointsCountsOverIndividualFields(colorsOfPointsOverIndividualFields);
return(trackingState, pointCounts);
}
/// <summary>
/// Decides which fields contain figure and decides its color
/// -> if there are more points over field than threshold, the figure is considered as present
/// -> color is decided by thresholding average fitness of points over field
/// </summary>
/// <param name="inputColorsData">Colors of points over individual fields</param>
/// <param name="userParameters">User defined parameters</param>
/// <returns>Tracking state of chessboard</returns>
private TrackingState DetectPresenceAndColorOfFiguresOnFields(List <Point2DWithColor>[,] inputColorsData, TrackingState gameTrackingState, UserDefinedParameters userParameters)
{
var figures = new TrackingFieldState[8, 8];
for (int x = 0; x < 8; x++)
{
for (int y = 0; y < 8; y++)
{
int presenceInfluence = 0;
float colorInfluence = 0;
if (gameTrackingState != null)
{
presenceInfluence =
gameTrackingState.Figures[x, y] != TrackingFieldState.None
? userParameters.GameStateInfluenceOnPresence
: 0;
colorInfluence =
(userParameters.GameStateInfluenceOnColor / 100f) *
(gameTrackingState.Figures[x, y] == TrackingFieldState.None
? 0
: gameTrackingState.Figures[x, y] == TrackingFieldState.White
? 1
: -1
);
}
if ((inputColorsData[x, y].Count + presenceInfluence) < userParameters.NumberOfPointsIndicatingFigure)
{
figures[x, y] = TrackingFieldState.None;
}
else
{
if (gameTrackingState != null && inputColorsData[x, y].Count == 0)
{
figures[x, y] = gameTrackingState.Figures[x, y];
continue;;
}
double averageBrightnessInField;
if (userParameters.IsFiguresColorMetricExperimental)
{
averageBrightnessInField =
inputColorsData[x, y].Sum(f => 1 - Math.Pow(-2.5f * (Color.FromArgb(f.Color.R, f.Color.G, f.Color.B).CustomBrightness() - 0.5f), 2) + colorInfluence)
/ inputColorsData[x, y].Count;
}
else
{
averageBrightnessInField =
inputColorsData[x, y].Sum(f => Color.FromArgb(f.Color.R, f.Color.G, f.Color.B).GetBrightness() + colorInfluence)
/ inputColorsData[x, y].Count;
}
figures[x, y] =
averageBrightnessInField > 0.5 + userParameters.ColorCalibrationAdditiveConstant
? TrackingFieldState.White
: TrackingFieldState.Black;
}
}
}
return(new TrackingState(figures));
}
/// <summary>
/// Detects points over individual fields of chessboard satisfying required conditions
/// </summary>
private List <Point2DWithColor>[,] FillColorsOverFiledsArrayWithData(List <Point2DWithColor>[,] array, KinectData kinectData, double fieldSize, byte[] canniedBytes, UserDefinedParameters userParameters)
{
var csp = kinectData.CameraSpacePointsFromDepthData;
var infraredData = kinectData.InfraredData;
var colorFrameData = kinectData.ColorFrameData;
var pointsFromDepthToColor = kinectData.PointsFromDepthToColor;
var chessboardSize = fieldSize * 8;
for (int i = 0; i < csp.Length; i++)
{
var isValid = !(float.IsInfinity(csp[i].Z) || float.IsNaN(csp[i].Z));
var lowerBoundOfXIsOk = csp[i].X > 0;
var lowerBoundOfYIsOk = csp[i].Y > 0;
var upperBoundOfXIsOk = csp[i].X < chessboardSize;
var upperBoundOfYIsOk = csp[i].Y < chessboardSize;
var infraredThresholdIsOk = infraredData[i] > 1500;
var aintFlyingPixelAccordingToCannyDetectorOnDepth = canniedBytes[i] != 255;
var isHighEnought = csp[i].Z < -(userParameters.MilimetersClippedFromFigure / 1000d);
var isBelowThreshold = csp[i].Z > -0.5f;
if (isValid &&
lowerBoundOfXIsOk &&
lowerBoundOfYIsOk &&
upperBoundOfXIsOk &&
upperBoundOfYIsOk &&
infraredThresholdIsOk &&
aintFlyingPixelAccordingToCannyDetectorOnDepth &&
isHighEnought &&
isBelowThreshold)
{
var reference = pointsFromDepthToColor[i];
if (reference.X > 0 && reference.X < 1920 && reference.Y > 0 && reference.Y < 1080)
{
var r = colorFrameData[((int)reference.X + (int)reference.Y * 1920) * 4 + 0];
var g = colorFrameData[((int)reference.X + (int)reference.Y * 1920) * 4 + 1];
var b = colorFrameData[((int)reference.X + (int)reference.Y * 1920) * 4 + 2];
int x = (int)Math.Floor(csp[i].X / fieldSize);
int y = (int)Math.Floor(csp[i].Y / fieldSize);
if (x >= 0 && y >= 0 && x < 8 && y < 8)
{
array[x, y].Add(new Point2DWithColor(Color.FromArgb(r, g, b), (int)reference.X, (int)reference.Y));
}
}
}
}
return(array);
}
