internal void DrawColorFrame(Image <Bgra, byte> pColorImage)
{
m_Image.Width = pColorImage.Width;
m_Image.Height = pColorImage.Height;
UtilitiesImage.ToImage(m_Image, pColorImage);
}
/// <summary>
/// Event handler for Kinect sensor's ColorFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
void Instance_allFramesReady(object pSource, Image <Bgra, byte> pColorImage, Image <Bgra, byte> pColorImageCropped, Image <Gray, Int32> pDepthImage, Image <Gray, Int32> pDepthImageCropped)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal,
new Action(() => {
if (gui_inizialized)
{
m_Image.Height = pColorImage.Height;
m_Image.Width = pColorImage.Width;
gui_inizialized = true;
}
pColorImage.Draw(new Rectangle(m_RectAssemblyArea.X, m_RectAssemblyArea.Y, m_RectAssemblyArea.Width, m_RectAssemblyArea.Height), new Bgra(0, 255, 0, 0), 0);
pColorImage.Draw(new Rectangle(m_RectDrawingArea.X, m_RectDrawingArea.Y, m_RectDrawingArea.Width, m_RectDrawingArea.Height), new Bgra(255, 0, 0, 0), 0);
UtilitiesImage.ToImage(m_Image, pColorImage);
})
);
}
public void ProcessFrame(Image <Bgra, byte> pColorImage, Image <Bgra, byte> pColorImageCropped,
Image <Gray, Int32> pDepthImage, Image <Gray, Int32> pDepthImageCropped)
{
if (pColorImage != null)
{
m_ColorImage = pColorImage;
UtilitiesImage.ToImage(this.KinectRGBImage, CameraManager.Instance.ColorImage);
}
if (pColorImageCropped != null)
{
UtilitiesImage.ToImage(this.KinectRGBCropImage, CameraManager.Instance.ColorImageCropped);
}
if (pDepthImage != null)
{
UtilitiesImage.ToImage(this.KinectDepthImage, CameraManager.Instance.DepthImage);
}
if (pDepthImageCropped != null)
{
UtilitiesImage.ToImage(this.KinectDepthCropImage, CameraManager.Instance.DepthImageCropped);
}
}
//Code to be called within a certain part of the main ProccessFrame Method
public void Object_ProccessFrame_Draw(bool hasToUpdateUI, Image <Bgra, Byte> pImage)
{
if (m_TakeScreenShotFromZone)
{
if (m_SelectedZone != null)
{
long now = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
if (now - m_ScreenshotTakenTimestamp > 200) // take picture after 200ms - frame should be gone by then
{
// crop image
Rectangle boundingBox = new Rectangle(m_SelectedZone.X, m_SelectedZone.Y, m_SelectedZone.Width, m_SelectedZone.Height);
pImage.ROI = boundingBox;
ObjectDetectionManager.Instance.SaveAndAddObjectToDatabase(pImage);
SceneManager.Instance.DisableObjectScenes = false;
m_TakeScreenShotFromZone = false;
m_SelectedZone = null;
CvInvoke.cvResetImageROI(pImage);
}
}
}
// first clear all the feedback from previous frame
SceneManager.Instance.TemporaryObjectsTextScene.Clear();
// should we check for objects?
if (SettingsManager.Instance.Settings.ObjectsRecognizeObject &&
ObjectDetectionManager.Instance.CurrentLayout != null &&
hasToUpdateUI)
{
// walk over all zones
foreach (ObjectDetectionZone zone in ObjectDetectionManager.Instance.CurrentLayout.ObjectDetectionZones)
{
// crop image
Rectangle boundingBox = new Rectangle(zone.X, zone.Y, zone.Width, zone.Height);
pImage.ROI = boundingBox;
Image <Gray, byte> grayscaleImage = pImage.Copy().Convert <Gray, byte>();
CvInvoke.cvResetImageROI(pImage);
// walk over all objects
foreach (TrackableObject obj in Database.DatabaseManager.Instance.Objects)
{
if (ObjectDetectionManager.Instance.RecognizeObject(obj.EmguImage, grayscaleImage))
{
// YAY we found an object
// trigger stuff
WorkflowManager.Instance.OnObjectRecognized(obj);
// update last seen timestamp
obj.LastSeenTimeStamp = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
obj.LastSeenZoneId = zone.Id;
// display visual feedback
Scene.SceneText textItem = ObjectDetectionManager.Instance.createSceneTextHeadingObjectDetectionZone(zone, obj.Name);
SceneManager.Instance.TemporaryObjectsTextScene.Add(textItem);
}
}
}
}
CvInvoke.cvResetImageROI(pImage);
if (ObjectDetectionManager.Instance.CurrentLayout != null)
{
if (SettingsManager.Instance.Settings.ObjectsVisualFeedbackDisplay && (ObjectDetectionManager.Instance.CurrentLayout.ObjectDetectionZones.Count != 0))
{
//write boxes
MCvFont font = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5);
foreach (ObjectDetectionZone z in ObjectDetectionManager.Instance.CurrentLayout.ObjectDetectionZones)
{
// draw ID
pImage.Draw(z.Id + "", ref font, new System.Drawing.Point(z.X, z.Y), new Bgra(0, 0, 0, 0));
// draw Frame
if (z.wasRecentlyTriggered())
{
pImage.Draw(new Rectangle(z.X, z.Y, z.Width, z.Height), new Bgra(0, 255, 255, 0), 0);
}
else
{
pImage.Draw(new Rectangle(z.X, z.Y, z.Width, z.Height), new Bgra(255, 255, 255, 0), 0);
}
}
}
UtilitiesImage.ToImage(image, pImage);
if (SettingsManager.Instance.Settings.ObjectsVisualFeedbackProject)
{
SceneManager.Instance.TemporaryObjectsScene.Clear();
// add a temporary scene for each box
foreach (ObjectDetectionZone z in ObjectDetectionManager.Instance.CurrentLayout.ObjectDetectionZones)
{
// false = call from the display loop
SceneManager.Instance.TemporaryObjectsScene.Add(ObjectDetectionManager.Instance.createSceneBoxForObjectDetectionZone(z, false));
}
}
else
{
SceneManager.Instance.TemporaryObjectsScene.Clear();
}
}
}
/// <summary>
/// Event handler for Kinect sensor's ColorFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
void Instance_allOrgFramesReady(object pSource, Image <Bgra, byte> pColorImage, Image <Gray, Int32> pDepthImage)
{
Dispatcher.Invoke(DispatcherPriority.DataBind,
new Action(() =>
{
Image <Bgra, byte> tempDepth = pDepthImage.Convert <Bgra, byte>();
tempDepth = tempDepth.Resize(sliderDepthRatio.Value, INTER.CV_INTER_LINEAR);
Image <Bgra, byte> tempColor = pColorImage.Copy();
int xS = (int)sliderDepthX.Value;
int yS = (int)sliderDepthY.Value;
int xD = 0;
int yD = 0;
int xC = 0;
int yC = 0;
int w = tempDepth.Width;
int h = tempDepth.Height;
if (xS >= 0 && tempColor.Width < tempDepth.Width + xS)
{
// rechts raus & links drin
w -= tempDepth.Width + xS - tempColor.Width;
xC = xS;
}
else if (xS < 0 && tempColor.Width < tempDepth.Width + xS)
{
// rechts raus & links raus
w = tempColor.Width;
xD = -xS;
}
else if (xS < 0)
{
// links raus
xD = -xS;
w += xS;
}
else
{
//mitte horizontal
xC = xS;
}
if (yS >= 0 && tempColor.Height < tempDepth.Height + yS)
{
//unten raus & oben drin
h -= tempDepth.Height + yS - tempColor.Height;
yC = yS;
}
else if (yS < 0 && tempColor.Height < tempDepth.Height + yS)
{
//unten raus & oben raus
h = tempColor.Height;
yD = -yS;
}
else if (yS < 0)
{
//oben raus
h += yS;
yD = -yS;
}
else
{
//mitte vetical
yC = yS;
}
try
{
//Ausschnitt Setzen
tempDepth.ROI = new Rectangle(xD, yD, w, h);
tempColor.ROI = new Rectangle(xC, yC, w, h);
//Bild Kopieren
tempDepth.CopyTo(tempColor);
BoundsOkay = true;
}
catch (CvException)
{
//Prevent crash when offsets are out of bounds
BoundsOkay = false;
}
//Auschnitt zurück setzen
tempColor.ROI = new Rectangle(0, 0, pColorImage.Width, pColorImage.Height);
UtilitiesImage.ToImage(m_Image, tempColor);
})
);
}
