//Stopwatch stopwatch = new Stopwatch();
public TrackerManager(KinectInterface kinect)
{
this.kinect = kinect;
kinect.OnDepthFrame += new Action(kinect_OnDepthFrame);
//tcpClient.Connect("192.168.0.100", 9999);
//stream = tcpClient.GetStream();
//stopwatch.Start();
detector = new BallDetector();
tracker = new BallTracker();
}
public List <Ball3D> Detect(KinectInterface kinect)
{
float threshDepth = 8.9f;
float expectedRadius = 0.0251f;
float radThres = 0.0025f;
var balls = new List <Ball3D>();
int w = KinectInterface.w;
int h = KinectInterface.h;
int sw = w / 2;
int sh = h / 2;
byte depthByte = (byte)((int)threshDepth * 1000 >> 4);
var dsmall = kinect.FullDepth.PyrDown();
var depthMask = dsmall.CopyBlank();
CvInvoke.cvThreshold(dsmall.Ptr, depthMask.Ptr, depthByte, 255, Emgu.CV.CvEnum.THRESH.CV_THRESH_BINARY_INV);
var depthMaskBlock = depthMask.Erode(1).Dilate(1);
var depthMaskOverlay = depthMaskBlock.Convert <Bgr, Byte>();
var edges = depthMaskBlock.Canny(new Gray(180), new Gray(120));
debugOut = edges.Convert <Bgr, Byte>();
MemStorage storage = new MemStorage(); //allocate storage for contour approximation
for (Contour <System.Drawing.Point> contours = edges.FindContours(); contours != null; contours = contours.HNext)
{
//var ptsRaw = contours.Select(pt => new System.Drawing.PointF(pt.X, pt.Y)).ToArray();
//var centroid = new System.Drawing.PointF(
// ptsRaw.Sum(p => p.X) / ptsRaw.Length,
// ptsRaw.Sum(p => p.Y) / ptsRaw.Length); //TODO: fix this method to be actually correct
//var cPts = ptsRaw.Select(p => new System.Drawing.PointF(
// p.X - centroid.X,
// p.Y - centroid.Y)).ToArray();
int bbxcent = contours.BoundingRectangle.X + contours.BoundingRectangle.Width / 2;
int bbycent = contours.BoundingRectangle.Y + contours.BoundingRectangle.Height / 2;
byte bbcentVal = depthMaskBlock.Data[bbycent, bbxcent, 0];
int minDim = Math.Min(contours.BoundingRectangle.Width, contours.BoundingRectangle.Height);
if (bbcentVal == 255 && minDim > 5)//contour is filled in & greater than some pixel size
{
//var defects = approxContour.GetConvexityDefacts(storage, Emgu.CV.CvEnum.ORIENTATION.CV_CLOCKWISE);
MCvBox2D box = contours.GetMinAreaRect(storage);
float xc = (box.center.X * (w / sw));
float yc = (box.center.Y * (h / sh));
float rMin = (w / sw) * (float)(Math.Min(box.size.Width, box.size.Height) / 2);
double dAvg = avgDepth(kinect.depthMM, (int)xc, (int)yc, (int)(rMin * 2 / 3));
double zproj = 0.001 * dAvg; //in meters
//project
var projectedPosV3 = kinect.UnprojectDepth((float)dAvg, xc, yc);
var projectedBound = kinect.UnprojectDepth((float)dAvg, xc + rMin, yc);
float actualRadius = (projectedPosV3 - projectedBound).Length();
if (actualRadius < expectedRadius + radThres && actualRadius > expectedRadius - radThres)
{
//RotationMatrix2D<float> rot = new RotationMatrix2D<float>(new System.Drawing.PointF(0, 0), box.angle, 1); //not -box.angle, because stupidly matrix rotations are counter-clockwise but box.angle is measured clockwise...
//rot.RotatePoints(cPts);
//var cnormPts = cPts.Select(p => new System.Drawing.PointF(
// p.X / (box.size.Width / 2),
// p.Y / (box.size.Height / 2)));
//var variance = cnormPts.Sum(p =>
//{
// var d = Math.Sqrt(p.X * p.X + p.Y * p.Y);
// return (d - 1) * (d - 1);
//}) / cnormPts.Count();
//if (variance * rApprox * rApprox < 2.5f)
if (contours.Area >= box.size.Width * box.size.Height * Math.PI / 4 * 0.9)
{
Emgu.CV.Structure.Ellipse ellipse = new Emgu.CV.Structure.Ellipse(box.center, new System.Drawing.SizeF(box.size.Height, box.size.Width), box.angle);
depthMaskOverlay.Draw(ellipse, new Bgr(0, 255, 0), 3);
depthMaskOverlay.Draw(new Cross2DF(box.center, 10, 10), new Bgr(0, 0, 255), 1);
Ball3D ball = new Ball3D()
{
Position = projectedPosV3.ToLinV(), Radius = actualRadius
};
balls.Add(ball);
}
else
{
//depthMaskOverlay.Draw(box, new Bgr(0, 0, 255), 2);
}
}
}
}
storage.Dispose();
DetectorOverlay = depthMaskOverlay;
return(balls);
}