public static void WriteSkeletonOverFrame(DepthSensorKinect2 sensor, VisTypes visType, SkeletonOfBody skeleton, int sizePoint, ref ushort[] buffDepth16)
{
// Draw joints pixels over the depth image
switch (visType)
{
case VisTypes.Color:
// Overwrite the points over the depth image in color space
foreach (var pos in skeleton.jointColorSpace)
{
for (int m = -sizePoint; m <= sizePoint; m++)
{
for (int n = -sizePoint; n <= sizePoint; n++)
{
int posX = (int)pos.X + m;
int posY = (int)pos.Y + n;
if ((posX >= 0 && posX < sensor.ColorImageSize.Width) && (posY >= 0 && posY < sensor.ColorImageSize.Height))
{
int indexDepth = posY * sensor.ColorImageSize.Width + posX;
// Highlight the pixel
buffDepth16[indexDepth] = 0xffff;
}
}
}
}
break;
case VisTypes.Depth:
case VisTypes.Infrared:
case VisTypes.BodyIndex:
// Overwrite the points over the depth image in depth space
foreach (var pos in skeleton.jointDepthSpace)
{
for (int m = -sizePoint; m <= sizePoint; m++)
{
for (int n = -sizePoint; n <= sizePoint; n++)
{
int posX = (int)pos.X + m;
int posY = (int)pos.Y + n;
if ((posX >= 0 && posX < sensor.DepthImageSize.Width) && (posY >= 0 && posY < sensor.DepthImageSize.Height))
{
int indexDepth = posY * sensor.DepthImageSize.Width + posX;
// Highlight the pixel
buffDepth16[indexDepth] = 0xffff;
}
}
}
}
break;
case VisTypes.None:
break;
default:
break;
}
}
public override void AddActionPreferencesToList(ConsideredActions alreadyConsidered, IList <string> log)
{
double storedVis = VisTypes.Sum(v => _mage.GetVisCount(v));
_visStillNeeded = AmountNeeded - storedVis;
if (_visStillNeeded > 0)
{
// extract
if (_vimSufficient)
{
if (!_auraCondition.ConditionFulfilled)
{
_auraCondition.AddActionPreferencesToList(alreadyConsidered, log);
}
else if (!_labCondition.ConditionFulfilled)
{
_labCondition.AddActionPreferencesToList(alreadyConsidered, log);
}
else
{
double currentDistillRate = _mage.GetVisDistillationRate();
double extractDesirability = GetDesirabilityOfVisGain(currentDistillRate, ConditionDepth);
if (extractDesirability > 0.00001)
{
// we can get what we want in one season, go ahead and do it
log.Add("Extracting vis worth " + extractDesirability.ToString("0.000"));
alreadyConsidered.Add(new VisExtracting(Abilities.MagicTheory, extractDesirability));
if (currentDistillRate < _visStillNeeded)
{
// we are in the multi-season-to-fulfill scenario
// the difference between the desire of starting now
// and the desire of starting after gaining experience
// is the effective value of raising skills
double labTotal = _mage.GetLabTotal(MagicArtPairs.CrVi, Activity.DistillVis);
LabTotalIncreaseHelper helper =
new LabTotalIncreaseHelper(_mage, AgeToCompleteBy - 1, extractDesirability / labTotal, (ushort)(ConditionDepth + 1), MagicArtPairs.CrVi, false, GetDesirabilityOfLabTotalGain);
helper.AddActionPreferencesToList(alreadyConsidered, log);
}
}
}
}
// search for vis source
FindVisSourceHelper visSourceHelper = new FindVisSourceHelper(_mage, VisTypes, AgeToCompleteBy - 1, Desire, (ushort)(ConditionDepth + 1), !_vimSufficient, GetDesirabilityOfVisGain);
visSourceHelper.AddActionPreferencesToList(alreadyConsidered, log);
// consider writing a book to trade for vis
WritingHelper writingHelper = new WritingHelper(_mage, AgeToCompleteBy - 1, Desire, (ushort)(ConditionDepth + 1), GetDesirabilityOfVisGain);
writingHelper.AddActionPreferencesToList(alreadyConsidered, log);
}
}
/// <summary>
/// Converts the specified 3D CameraSpacePoint into a 2D ImageSpacePoint.
/// </summary>
/// <param name="visType">The type of the conversion (color, depth, infrared, or bodyindex).</param>
/// <param name="position3D">The CameraSpacePoint to convert.</param>
/// <param name="coordinateMapper">The CoordinateMapper to make the conversion.</param>
/// <returns>The corresponding 2D integer point.</returns>
public static Point ToPoint(CoordinateMapper coordinateMapper, VisTypes visType, CameraSpacePoint position3D)
{
//System.Drawing.
Point point = new Point(0, 0);
switch (visType)
{
case VisTypes.Color:
{
// SDK Coordinate mapping
ColorSpacePoint colorPoint = coordinateMapper.MapCameraPointToColorSpace(position3D);
// The sentinel value is (-Inf, -Inf), meaning that no depth pixel corresponds to this color pixel.
point.X = float.IsNegativeInfinity(colorPoint.X) ? 0 : (int)(colorPoint.X + 0.5f);
point.Y = float.IsNegativeInfinity(colorPoint.Y) ? 0 : (int)(colorPoint.Y + 0.5f);
}
break;
case VisTypes.Depth:
case VisTypes.Infrared:
case VisTypes.BodyIndex:
{
DepthSpacePoint depthPoint = coordinateMapper.MapCameraPointToDepthSpace(position3D);
point.X = float.IsNegativeInfinity(depthPoint.X) ? 0 : (int)(depthPoint.X + 0.5f);
point.Y = float.IsNegativeInfinity(depthPoint.Y) ? 0 : (int)(depthPoint.Y + 0.5f);
}
break;
case VisTypes.None:
break;
default:
break;
}
return(point);
}
public static void WriteFaceOverFrame(DepthSensorKinect2 sensor, VisTypes visType, BoxFace boxFace, int sizeLine, ref ushort[] buffDepth16)
{
// Box = (topX, topY, width, height)
// Box = new BoxFace(boxColor.Left, boxColor.Top, (boxColor.Right - boxColor.Left), (boxColor.Bottom - boxColor.Top));
int _left = boxFace.topX;
int _right = boxFace.width + _left;
int _top = boxFace.topY;
int _bottom = boxFace.height + _top;
switch (visType)
{
case VisTypes.Color:
for (int ii = _left; ii <= _right; ii++)
{
for (int a = -sizeLine; a <= sizeLine; a++)
{
for (int b = -sizeLine; b <= sizeLine; b++)
{
int posX = ii + a;
int posY1 = _top + b;
int posY2 = _bottom + b;
if (
(posX >= 0 && posX < sensor.ColorImageSize.Width) &&
(posY1 >= 0 && posY1 < sensor.ColorImageSize.Height) &&
(posY2 >= 0 && posY2 < sensor.ColorImageSize.Height)
)
{
// top line
int indexDepth1 = posY1 * sensor.ColorImageSize.Width + posX;
buffDepth16[indexDepth1] = 0xffff;
// bottom line
int indexDepth2 = posY2 * sensor.ColorImageSize.Width + posX;
buffDepth16[indexDepth2] = 0xffff;
}
}
}
} //EndFor
for (int jj = _top; jj <= _bottom; jj++)
{
for (int a = -sizeLine; a <= sizeLine; a++)
{
for (int b = -sizeLine; b <= sizeLine; b++)
{
int posY = jj + b;
int posX1 = _left + a;
int posX2 = _right + a;
if (
(posX1 >= 0 && posX1 < sensor.ColorImageSize.Width) &&
(posY >= 0 && posY < sensor.ColorImageSize.Height) &&
(posX2 >= 0 && posX2 < sensor.ColorImageSize.Width)
)
{
// left line
int indexDepth1 = posY * sensor.ColorImageSize.Width + posX1;
buffDepth16[indexDepth1] = 0xffff;
// right line
int indexDepth2 = posY * sensor.ColorImageSize.Width + posX2;
buffDepth16[indexDepth2] = 0xffff;
}
}
}
} //EndFor
break;
case VisTypes.Depth:
case VisTypes.Infrared:
case VisTypes.BodyIndex:
for (int ii = _left; ii <= _right; ii++)
{
for (int a = -sizeLine; a <= sizeLine; a++)
{
for (int b = -sizeLine; b <= sizeLine; b++)
{
int posX = ii + a;
int posY1 = _top + b;
int posY2 = _bottom + b;
if (
(posX >= 0 && posX < sensor.DepthImageSize.Width) &&
(posY1 >= 0 && posY1 < sensor.DepthImageSize.Height) &&
(posY2 >= 0 && posY2 < sensor.DepthImageSize.Height)
)
{
// top line
int indexDepth1 = posY1 * sensor.DepthImageSize.Width + posX;
buffDepth16[indexDepth1] = 0xffff;
// bottom line
int indexDepth2 = posY2 * sensor.DepthImageSize.Width + posX;
buffDepth16[indexDepth2] = 0xffff;
}
}
}
} //EndFor
for (int jj = _top; jj <= _bottom; jj++)
{
for (int a = -sizeLine; a <= sizeLine; a++)
{
for (int b = -sizeLine; b <= sizeLine; b++)
{
int posY = jj + b;
int posX1 = _left + a;
int posX2 = _right + a;
if (
(posX1 >= 0 && posX1 < sensor.DepthImageSize.Width) &&
(posY >= 0 && posY < sensor.DepthImageSize.Height) &&
(posX2 >= 0 && posX2 < sensor.DepthImageSize.Width)
)
{
// left line
int indexDepth1 = posY * sensor.DepthImageSize.Width + posX1;
buffDepth16[indexDepth1] = 0xffff;
// right line
int indexDepth2 = posY * sensor.DepthImageSize.Width + posX2;
buffDepth16[indexDepth2] = 0xffff;
}
}
}
} //EndFor
break;
case VisTypes.None:
break;
default:
break;
}
}
