public List<TableObject>AssignVideoBitmap(List<TableObject> objects, Bitmap videoBitmap)
{
Bitmap localbitmap = new Bitmap(videoBitmap);
foreach (TableObject obj in objects.Where(obj => obj.CenterDefined))
{
//Calculate the position of the Color-Coords
obj.Center = PositionMapper.GetColorCoordinatesfromDepth(obj.Center, true,
SettingsManager.RecognitionSet.TableDistance - obj.Height);
//Cut out an extract of the videoImage
Bitmap extract = new Bitmap(obj.Radius + SettingsManager.RecognitionSet.ObjectVideoBitmapEnlargement, obj.Radius + SettingsManager.RecognitionSet.ObjectVideoBitmapEnlargement);
//Create area rectangle
int width = 0, height = 0;
SettingsManager.KinectSet.GetVideoResolution(out width, out height);
TRectangle area = new TRectangle(obj.Center.ColorX, obj.Center.ColorY, obj.Radius + SettingsManager.RecognitionSet.ObjectVideoBitmapEnlargement, true,
new TRectangle(0, 0, width-1, height-1));
//Copy Color pixels
for (int x = area.X; x < area.X2; x++)
{
for (int y = area.Y; y < area.Y2; y++)
{
Color col = localbitmap.GetPixel(x, y);
extract.SetPixel(x - area.X, y - area.Y, col);
}
}
//Assign bitmap
obj.ExtractedBitmap = extract;
}
return objects;
}
public TRectangle(int X, int Y, int Width, int Height, bool CutIntoBound, TRectangle bounds)
{
this.X = X;
this.Y = Y;
this.X2 = X + Width;
this.Y2 = Y + Height;
if (CutIntoBound)
CutIntoBounds(bounds.X, bounds.Y, bounds.X2, bounds.Y2);
}
/// <summary>
/// Calculates the neigbour-values for a given
/// </summary>
/// <param name="boolmap"></param>
/// <param name="area"></param>
/// <param name="neigbourmap"></param>
/// <param name="ImageWidth"></param>
/// <param name="ImageHeight"></param>
private static void CalculateNeigbourValues(bool[,] boolmap, TRectangle area, ref int[,,] neigbourmap, int ImageWidth, int ImageHeight)
{
//For every Point in the given Area
for (int x = area.X; x <= area.X2; x++)
{
for (int y = area.Y; y <= area.Y2; y++)
{
bool work = true;
int rectangleSize = 0;
while (work)
{
//Expand the rectangle
if (rectangleSize > 0)
rectangleSize += SettingsManager.RecognitionSet.ObjectRecognitionRectIncrease;
else
rectangleSize = SettingsManager.RecognitionSet.ObjectMinimalRadius;
TRectangle workrectancle = new TRectangle(x, y, rectangleSize, true, new TRectangle(0, 0, ImageWidth-1, ImageHeight-1));
//Count the neigbours
int true_n = 0;
int false_n = 0;
for (int xn = workrectancle.X; xn <= workrectancle.X2; xn++)
{
for (int yn = workrectancle.Y; yn <= workrectancle.Y2; yn++)
{
if (boolmap[xn, yn])
true_n++;
else
false_n++;
}
}
//Calculate the percentage of false-neigbours
double false_percentage = (100/(true_n + false_n))*false_n;
false_percentage = false_percentage / 100.0;
//break if the percentage is reached or the maximal object size is reached (or a fixed programmed value - for
if (false_percentage >= SettingsManager.RecognitionSet.ObjectRecognitionNeighbourcountThreshold ||
workrectancle.Width >= SettingsManager.RecognitionSet.ObjectMaximalRadius )
{
work = false;
//write the values to the array
neigbourmap[x, y, 0] = true_n;
neigbourmap[x, y, 1] = workrectancle.Width; // == Height
//Special case: object is too small (not enought neigbours with the lowest rectangle size) --> don't save values
if (rectangleSize == SettingsManager.RecognitionSet.ObjectMinimalRadius)
neigbourmap[x, y, 0] = 0;
}
}
}
}
}
public TRectangle(int CenterX, int CenterY, int side, bool CutIntoBound, TRectangle bounds)
{
this.X = (int) Math.Round((double) (CenterX - side/2));
this.Y = (int) Math.Round((double) (CenterY - side/2));
this.X2 = (int) Math.Round((double)(CenterX + side/2));
this.Y2 = (int) Math.Round((double)(CenterY + side/2));
if (CutIntoBound)
CutIntoBounds(bounds.X, bounds.Y, bounds.X2, bounds.Y2);
}
/// <summary>
/// Sets all neigbourvalues around a given point (in "his" rectangle) to zero
/// </summary>
/// <param name="neigbourmap"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="point"></param>
private void SetPointsToZero(ref int[,,] neigbourmap, int width, int height, ObjectPoint point)
{
//Create Rectangle for point
TRectangle workrectancle = new TRectangle(point.X, point.Y, point.RectSize, true,
new TRectangle(0, 0, width-1, height-1));
//Set every neigbourvalue to 0
for (int x = workrectancle.X; x <= workrectancle.X2; x++)
{
for (int y = workrectancle.Y; y <= workrectancle.Y2; y++)
{
neigbourmap[x, y, 0] = 0;
}
}
}
/// <summary>
/// Creates a neighbourmap - an int[x,y,n] array, where the int stores the count of the whitepixel-neighbours of the object (n=0) and the size of the circle/rect used
/// to count these neighbours (n=1). The circle/rect is scaled up until a defined percentage of the pixels is false, meaning no part of the object. the neigbourmap is only created around true rasterpoints to be eficcent
/// </summary>
/// <param name="boolmap">The boolmap</param>
/// <param name="image">Depth Image</param>
/// <param name="rasterpoints">The calculated Rasterpoints</param>
/// <returns></returns>
private static int[,,] CreateNeighbourMap(bool[,] boolmap, DepthImage image, List<TPoint> rasterpoints)
{
int[,,] neighbourmap = new int[image.Width,image.Height,2];
//Do this for each region arount the true rasterpoints
foreach (TPoint rasterpoint in rasterpoints)
{
//calculate the area: the Gridsize after the points Position
int xmin = rasterpoint.DepthX;
int ymin = rasterpoint.DepthY;
int xmax = rasterpoint.DepthX + SettingsManager.RecognitionSet.ObjectRecognitionGridSpacing;
if (xmax >= image.Width)
xmax = image.Width - 1;
int ymax = rasterpoint.DepthY + SettingsManager.RecognitionSet.ObjectRecognitionGridSpacing;
if (ymax >= image.Height)
ymax = image.Height - 1;
TRectangle area = new TRectangle(xmin, ymin, xmax, ymax);
//Now calculate the values for every point in the area
CalculateNeigbourValues(boolmap, area, ref neighbourmap, image.Width, image.Height);
}
return neighbourmap;
}
