void GetRemoveBackground(KinectOneLabelMap labelmap, KinectOneImage image, Kinect.ColorSpacePoint[] colorSpaces)
{
byte[] data = labelmap.GetData();
Color32[] _image = image.GetColorTexture().GetPixels32();
int imageWidth = image.Sensor.ColorFrameSource.FrameDescription.Width;
for (int i = 0; i < outputPixels.Length; i++)
{
byte indexValue = data[i];
if (IsValidFloatValue(colorSpaces[i].X) || IsValidFloatValue(colorSpaces[i].Y) || indexValue == 255)
{
outputPixels[i] = new Color32(0, 0, 0, 0);
}
else
{
float x = colorSpaces[i].X, y = colorSpaces[i].Y;
int colorIndex = (int)y * imageWidth + (int)x;
outputPixels[i] = (indexValue > 0) ? ((indexValue <= labelToColor.Length) ? labelToColor[indexValue - 1] : defaultColor) : bgColor;
if (indexValue == m_engageuser.engagedTrackedUser.Id && colorIndex < _image.Length && colorIndex > 0)
{
outputPixels[i] = _image[colorIndex];
}
}
}
}
void ZigTrackedUserCenter(KinectOneLabelMap labelmap)
{
if (m_engageuser == null || m_engageuser.engagedTrackedUser == null)
{
trackedUserIndex = 255;
return;
}
ZigTrackedUser _engagedUser = m_engageuser.engagedTrackedUser;
Kinect.CameraSpacePoint positionPoint = new Kinect.CameraSpacePoint();
positionPoint.X = _engagedUser.Position.x;
positionPoint.Y = _engagedUser.Position.y;
positionPoint.Z = _engagedUser.Position.z;
Kinect.DepthSpacePoint depthSpacePoint = _mapper.MapCameraPointToDepthSpace(positionPoint);
short[] labelData = labelmap.data;
int index = (int)(depthSpacePoint.Y * depthInfo.xres + depthSpacePoint.X);
trackedUserIndex = (index >= 0 && index < labelData.Length) ? labelData[index] : (short)255;
}
void UpdateTexture(KinectOneDepth depth, KinectOneLabelMap labelmap, KinectOneImage image)
{
int trackedUserId = -1;
if (m_engageuser != null && m_engageuser.engagedTrackedUser != null)
{
trackedUserId = m_engageuser.engagedTrackedUser.Id;
}
if (trackedUserId == -1)
{
GetNoTrackingTexture(depth);
}
else
{
Kinect.ColorSpacePoint[] colorSpacePoints = new Kinect.ColorSpacePoint[depth.xres * depth.yres];
_mapper.MapDepthFrameToColorSpace(depth.GetData(), colorSpacePoints);
GetRemoveBackground(labelmap, image, colorSpacePoints);
}
texture.SetPixels32(outputPixels);
texture.Apply();
}
void GetRemoveBackground(KinectOneLabelMap labelmap, KinectOneImage image, Kinect.ColorSpacePoint[] colorSpaces)
{
byte[] data = labelmap.GetData();
Color32[] _image = image.GetColorTexture().GetPixels32();
int imageWidth = image.Sensor.ColorFrameSource.FrameDescription.Width;
for (int i = 0; i < outputPixels.Length; i++)
{
byte indexValue = data[i];
if (IsValidFloatValue(colorSpaces[i].X) || IsValidFloatValue(colorSpaces[i].Y) || indexValue == 255)
{
outputPixels[i] = new Color32(0, 0, 0, 0);
}
else
{
float x=colorSpaces[i].X, y=colorSpaces[i].Y;
int colorIndex = (int)y * imageWidth + (int)x;
outputPixels[i] = (indexValue > 0) ? ((indexValue <= labelToColor.Length) ? labelToColor[indexValue - 1] : defaultColor) : bgColor;
if (indexValue == m_engageuser.engagedTrackedUser.Id && colorIndex < _image.Length && colorIndex > 0)
{
outputPixels[i] = _image[colorIndex];
}
}
}
}
void ZigTrackedUserCenter(KinectOneLabelMap labelmap)
{
if (m_engageuser == null || m_engageuser.engagedTrackedUser == null)
{
trackedUserIndex = 255;
return;
}
ZigTrackedUser _engagedUser = m_engageuser.engagedTrackedUser;
Kinect.CameraSpacePoint positionPoint = new Kinect.CameraSpacePoint();
positionPoint.X = _engagedUser.Position.x;
positionPoint.Y = _engagedUser.Position.y;
positionPoint.Z = _engagedUser.Position.z;
Kinect.DepthSpacePoint depthSpacePoint = _mapper.MapCameraPointToDepthSpace(positionPoint);
short[] labelData = labelmap.data;
int index = (int)(depthSpacePoint.Y * depthInfo.xres + depthSpacePoint.X);
trackedUserIndex = (index >= 0 && index < labelData.Length) ? labelData[index] : (short)255;
}
void UpdateTexture(KinectOneDepth depth, KinectOneLabelMap labelmap, KinectOneImage image)
{
int trackedUserId = -1;
if (m_engageuser != null && m_engageuser.engagedTrackedUser != null)
trackedUserId = m_engageuser.engagedTrackedUser.Id;
if (trackedUserId == -1)
{
GetNoTrackingTexture(depth);
}
else
{
Kinect.ColorSpacePoint[] colorSpacePoints = new Kinect.ColorSpacePoint[depth.xres * depth.yres];
_mapper.MapDepthFrameToColorSpace(depth.GetData(), colorSpacePoints);
GetRemoveBackground(labelmap, image, colorSpacePoints);
}
texture.SetPixels32(outputPixels);
texture.Apply();
}
