public List<TableObject> SeperateObjects(ref DepthImage image, out bool[,] boolmap_object, out int[,,] neighbourmap)
{
//Create 2 seperate depth-images, remove the objects (for hand recognition) and the hand (for object recognition)
DepthImage HandImage = image.Clone();
DepthImage ObjectImage = image.Clone();
SplitUpDepthImages(ref HandImage, ref ObjectImage);
//For object recognition, create a BooleanXY-Map (true for all objects with a height > 0)
bool[,] boolmap_hand = CreateBoolMap(HandImage);
boolmap_object = CreateBoolMap(ObjectImage);
if (SettingsManager.RecognitionSet.SaveDebugMaps)
{
Bitmap dm_obj = MapVisualizer.VisualizeDepthImage(ObjectImage, false, false);
dm_obj.Save("ObjectDepthImage.bmp");
Bitmap dm_h = MapVisualizer.VisualizeDepthImage(HandImage, false, false);
dm_h.Save("HandDepthImage.bmp");
Bitmap bobj = MapVisualizer.VisualizeBoolMap(boolmap_hand, image.Width, image.Height);
bobj.Save("boolmap_hand.bmp");
Bitmap bmpo = MapVisualizer.VisualizeBoolMap(boolmap_object, image.Width, image.Height);
bmpo.Save("boolmap_object.bmp");
Bitmap ci = MapVisualizer.VisualizeDepthImage(image, false, false);
ci.Save("normalized_depthimage.bmp");
}
//Run the Hand Recognition
HandRecognizer hrec = new HandRecognizer();
HandObject hand = hrec.RecognizeHands(ref boolmap_hand, image.Width, image.Height);
//RunTheObjectRecognition
ObjectRecognizer orec = new ObjectRecognizer();
List<TableObject> tableObjects = orec.RecognizeObjects(boolmap_object, image, out neighbourmap);
//If there is a hand, add it to the TableObjects
if (hand != null)
tableObjects.Add(hand);
//Return the ObjectList
return tableObjects;
}
private void DoRecognitionWork(object data)
{
object[] dataArray = (object[]) data;
PlanarImage pimg = (PlanarImage) dataArray[0];
int[] deptharray = (int[]) dataArray[1];
Bitmap colorFrame = (Bitmap) dataArray[2];
RecognitionDataPacket rpacket = new DataStructures.RecognitionDataPacket();
DateTime dtBegin = DateTime.Now;
//Create DepthImage
DepthImage dimg = new DepthImage(deptharray,pimg.Width,pimg.Height);
rpacket.rawDepthImage = dimg.Clone();
//Correct the image
DepthMapPreprocessor dmp = new DepthMapPreprocessor();
dimg = dmp.ApplyDepthCorrection(dimg, SettingsManager.PreprocessingSet.DefaultCorrectionMap);
dimg = dmp.NormalizeHeights(dimg);
ObjectSeperator objectSeperator = new ObjectSeperator();
//Seperate objects
bool[,] boolmap_object;
int[,,] neighbourmap;
List<TableObject> objects = objectSeperator.SeperateObjects(ref dimg,out boolmap_object,out neighbourmap);
//if supplied, extract the relevant bitmap parts from the ColorFrame
if (colorFrame != null)
{
ObjectVideoBitmapAssigner ovba = new ObjectVideoBitmapAssigner();
ovba.AssignVideoBitmap(objects, colorFrame);
}
//Extract hand object from table objects
if (objects.Where( o => o.GetType() == typeof(HandObject)).Count() > 0)
{
rpacket.HandObj = (HandObject)objects.Where(o => o.GetType() == typeof (HandObject)).ToArray()[0];
}
//Fill DataPacket with Data
rpacket.correctedDepthImage = dimg;
rpacket.TableObjects = objects;
rpacket.objectmap = boolmap_object;
rpacket.neighbourmap = neighbourmap;
rpacket.bmpVideoFrame = colorFrame;
TimeSpan ts = DateTime.Now - dtBegin;
rpacket.RecognitionDuration = (int)Math.Round(ts.TotalMilliseconds);
if (SettingsManager.RecognitionSet.SaveDebugMaps)
{
Bitmap bmp = MapVisualizer.VisualizeDepthImage(rpacket.rawDepthImage);
bmp.Save("rawDepthImage.bmp");
}
//Event
OnRecognitionFinished(rpacket);
}
