private void b_depth_Click(object sender, EventArgs e)
{
int th, tht;
//Generate Calibration Data
_theightc.GenerateCalibrationData(new DepthImage(_deptharray, _width, _height), _calibrationPoints,
out th, out tht);
DepthMapPreprocessor dmp = new DepthMapPreprocessor();
DepthCorrectionMap dcm = dmp.CreateDepthCorrectionMap(new DepthImage(_deptharray, _width, _height), th);
//Set tableHeightTolerance to 25, as there was a depth CorrectionMap created
tht = 25;
//If there are border-cutoffs, use them
try
{
if (txt_bottom.Text != "")
dcm.CutOffBOttom = Convert.ToInt32(txt_bottom.Text);
if (txt_left.Text != "")
dcm.CutOffLeft = Convert.ToInt32(txt_left.Text);
if (txt_r.Text != "")
dcm.CutOffRight = Convert.ToInt32(txt_r.Text);
if (txt_top.Text != "")
dcm.CutOffTop = Convert.ToInt32(txt_bottom.Text);
}
catch (Exception)
{
MessageBox.Show("Ungültige werte beim Border CutOff!", "Fehler");
return;
}
SettingsManager.PreprocessingSet.DefaultCorrectionMap = dcm;
_theightc.SetCalibrationData(th, tht);
//Save the CorrectionMap
if (!SettingsManager.SaveSettings())
{
MessageBox.Show("Depth map created and applied, but settings couldn't be saved!", "Warning!");
}
else
{
MessageBox.Show("DepthMap Data Created and saved. Calibration is now finished.", "Success!");
}
}
private void b_calibrate_Click(object sender, RoutedEventArgs e)
{
//margins
int top = (int)s_cutoff_top.Value;
int left = (int) s_cutoff_left.Value;
int right = (int) s_cutoff_right.Value;
int bottom = (int) s_cutoff_down.Value;
//calibrate
if (points.Count == 0)
{
MessageBox.Show("Es muss mindestens ein kalibrationspunkt vorhanden sein!", "Fehler!");
return;
}
int distance;
int tolerance;
_theightc.GenerateCalibrationData(_dimage, points, out distance, out tolerance);
_theightc.SetCalibrationData(distance, 25);
DepthMapPreprocessor dmp = new DepthMapPreprocessor();
SettingsManager.PreprocessingSet.DefaultCorrectionMap = dmp.CreateDepthCorrectionMap(_dimage, distance);
SettingsManager.PreprocessingSet.DefaultCorrectionMap.CutOffBOttom = bottom;
SettingsManager.PreprocessingSet.DefaultCorrectionMap.CutOffLeft = left;
SettingsManager.PreprocessingSet.DefaultCorrectionMap.CutOffRight = right;
SettingsManager.PreprocessingSet.DefaultCorrectionMap.CutOffTop = top;
if (SettingsManager.SaveSettings())
{
MessageBox.Show("Kalibration erfolgreich ausgeführt, Einstellungen gespeichert", "Erfolg");
}
else
{
MessageBox.Show("Kalibration ausgeführt, Einstellungen konnten aber niht gespeichert werden.", "Achtung");
}
this.Close();
}
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);
}
