public static AreaPoint CalculateAreaPoint(RealWorldPoint realWorldPoint)
{
var areaPoint = new AreaPoint();
var areaVector = ChangeOfBasis.GetVectorInNewBasis(realWorldPoint.ToVector3D());
areaPoint.X = (int) areaVector.X;
areaPoint.Y = (int) areaVector.Y;
return areaPoint;
}
public BeamerPoint CalculateBeamerCoordinate(AreaPoint areaCoordinate)
{
var width = Beamer.GetBeamerWidth();
var height = Beamer.GetBeamerHeight();
var px = areaCoordinate.X * (width - 2 * CalibrationImage.TILE_WIDTH) / width;
var py = (areaCoordinate.Y) * (height - 2 * CalibrationImage.TILE_HEIGHT) / height;
return new BeamerPoint { X = px, Y = py };
}
public void CalculateObstacleCentroid()
{
var obstacleImage = kinect.GetColorImage();
var diffImage = kinect.GetDifferenceImage(obstacleImage, blankImage, KinectBeamerCalibration.THRESHOLD);
var initPoints = new List<Vector2D>() { new Vector2D { X = 0, Y = 0 } };
var centroids = KMeans.DoKMeans(KinectPointArrayHelper.ExtractBlackPointsAs2dVector(diffImage), initPoints);
var kinectPointCentroids = new List<KinectPoint>();
kinectPointCentroids.Add(kinectPoints[(int)centroids[0].X, (int)centroids[0].Y]);
ConvertKinectToRealWorld(new CalculateToRealWorldStrategy(), kinectPointCentroids);
var realWorldObstCentroid = Calibration.Points.Find((x) => x.Name == "ObstacleCentroid").RealWorldPoint;
var vectorRealWorldObstCentroid = realWorldObstCentroid.ToVector3D();
var vectorAreaObstCentroid = ChangeOfBasis.GetVectorInNewBasis(vectorRealWorldObstCentroid);
areaPointObstCentroid = new AreaPoint { X = (int)vectorAreaObstCentroid.X, Y = (int)vectorAreaObstCentroid.Y };
Calibration.Points.Find((x) => x.Name == "ObstacleCentroid").AreaPoint = areaPointObstCentroid;
}
public void RealWorldToAreaEdge()
{
var a = Points.Find((e) => e.Name == "A");
var b = Points.Find((e) => e.Name == "B");
var c = Points.Find((e) => e.Name == "C");
var d = Points.Find((e) => e.Name == "D");
var realWorldPointA = a.RealWorldPoint;
var realWorldPointB = b.RealWorldPoint;
var realWorldPointC = c.RealWorldPoint;
var realWorldPointD = d.RealWorldPoint;
var vectorRealWorldA = realWorldPointA.ToVector3D();
var vectorRealWorldB = realWorldPointB.ToVector3D();
var vectorRealWorldC = realWorldPointC.ToVector3D();
var vectorRealWorldD = realWorldPointD.ToVector3D();
var coordinateSystemPoints = GetOriginPoint(vectorRealWorldA, vectorRealWorldB, vectorRealWorldC, vectorRealWorldD);
ChangeOfBasis.InitializeChangeOfBasis(coordinateSystemPoints[1], coordinateSystemPoints[0], coordinateSystemPoints[2]);
var vectorAreaA = ChangeOfBasis.GetVectorInNewBasis(vectorRealWorldA);
var vectorAreaB = ChangeOfBasis.GetVectorInNewBasis(vectorRealWorldB);
var vectorAreaC = ChangeOfBasis.GetVectorInNewBasis(vectorRealWorldC);
var vectorAreaD = ChangeOfBasis.GetVectorInNewBasis(vectorRealWorldD);
var areaPointA = new AreaPoint { X = (int)vectorAreaA.X, Y = (int)vectorAreaA.Y };
var areaPointB = new AreaPoint { X = (int)vectorAreaB.X, Y = (int)vectorAreaB.Y };
var areaPointC = new AreaPoint { X = (int)vectorAreaC.X, Y = (int)vectorAreaC.Y };
var areaPointD = new AreaPoint { X = (int)vectorAreaD.X, Y = (int)vectorAreaD.Y };
realWorldToArea.Add(realWorldPointA, areaPointA);
realWorldToArea.Add(realWorldPointB, areaPointB);
realWorldToArea.Add(realWorldPointC, areaPointC);
realWorldToArea.Add(realWorldPointD, areaPointD);
a.AreaPoint = areaPointA;
b.AreaPoint = areaPointB;
c.AreaPoint = areaPointC;
d.AreaPoint = areaPointD;
}
public void ColorizePoint(int x, int y, Color color)
{
area[x, y] = new AreaPoint { Color = color, X = x, Y = y };
}
