/// <summary>
/// Performs body tracking on frame
/// </summary>
private void TrackBodies(TimeSpan frameRelativeTime, CameraSpacePoint[] noiseFilteredFrame)
{
var validatedHeads = DetectHeads(noiseFilteredFrame);
_stopwatch.Restart();
GeodesicUtils.CreateGeodesicGraph(noiseFilteredFrame);
if (Logger.LogTimeGeodesic)
{
_stopwatch.Stop();
Console.WriteLine("CreateGeodesicGraph: {0}", _stopwatch.ElapsedMilliseconds);
}
_stopwatch.Restart();
var bodies = CreateBodies(frameRelativeTime, validatedHeads);
BodiesHistory.Update(bodies);
GlobVar.TimeStamps.Add(frameRelativeTime);
TrackingDiagnostics.AddNewBodyFrame(bodies);
_heatMap.AddFrame(GlobVar.HeatCanvas);
EnergyHistory.Update(bodies);
if (Logger.PrintFps)
{
var currentTime = frameRelativeTime;
Console.WriteLine("FPS: {0}", Logger.CalculateFps(currentTime, _timestampPreviousFrame));
_timestampPreviousFrame = currentTime;
}
}
/// <summary>
/// Uses Dijkstra to find the shortest geodesic path from the top of the head to the rest of the body. The body parts
/// torso and hands are classified as the points from the geodesic map that fall into bins with a certain distance from
/// the top of the head.
/// </summary>
/// <returns>Returns a dictionary with the heads as keys and labels as values. If head isn't identified, the label is -1</returns>
public static void AddBodyRegions(Dictionary <int, Dictionary <int, float> > geodesicGraph, Head head, Body body)
{
var startIndex = head.HighestPointIndex;
if (!geodesicGraph.ContainsKey(startIndex))
{
startIndex = GeodesicUtils.GetClosestValidNeighbourInGeodesicGraph(startIndex);
}
if (startIndex == -1)
{
return;
}
var minDistances = Dijkstra.Perform(startIndex, geodesicGraph);
var handPoints = new List <int>();
var torsoPoints = new List <int>();
foreach (var minDistance in minDistances)
{
if (minDistance.Value < 1.1f)
{
// Include body in current heatcanvas
GlobVar.HeatCanvas[minDistance.Key] = body.Id;
}
if (minDistance.Value < 0.2f)
{
if (Logger.ShowHeadRegionPixels)
{
GlobVar.GraphicsCanvas[minDistance.Key] = 255;
}
torsoPoints.Add(minDistance.Key);
}
else if (minDistance.Value < 0.6f && minDistance.Value > 0.2f)
{
if (Logger.ShowTorsoPixels)
{
GlobVar.GraphicsCanvas[minDistance.Key] = 200;
}
torsoPoints.Add(minDistance.Key);
}
else if (minDistance.Value < 1.2f && minDistance.Value > 0.9f)
{
if (Logger.ShowHandPixels)
{
GlobVar.GraphicsCanvas[minDistance.Key] = 150;
}
handPoints.Add(minDistance.Key);
}
}
if (torsoPoints.Count > Thresholds.TorsoPointMinCount)
{
body.AddTorso(torsoPoints);
}
if (handPoints.Count > Thresholds.HandPointMinCount)
{
body.AddHands(handPoints);
}
}