/// <summary>
/// Applies a correctionMap to a raw DepthImage
/// </summary>
/// <param name="rawImage"></param>
/// <param name="correctionMap"></param>
/// <returns></returns>
public DepthImage ApplyDepthCorrection(DepthImage rawImage, DepthCorrectionMap correctionMap)
{
if (rawImage.Width != correctionMap.Width ||rawImage.Height != correctionMap.Height)
{
throw new Exception("Image size does not match");
}
//calculate the values for the section that is not involved in border cutting
int BorderCutXmin = 0 + correctionMap.CutOffLeft;
int BorderCutXmax = rawImage.Width - 1 - correctionMap.CutOffRight;
int BorderCutYmin = 0 + correctionMap.CutOffTop;
int BorderCutYmax = rawImage.Height - 1 - correctionMap.CutOffBOttom;
//Apply the Depth Correction
for (int x=0; x < rawImage.Width; x++)
{
for (int y = 0; y < rawImage.Height; y++)
{
if (rawImage.Data[x,y] > 0) //Only if there wasn't a reading error
rawImage.Data[x, y] = rawImage.Data[x, y] + correctionMap.CorrectionData[x, y];
//Coordinates outside the CutOffBorder?
if (!((BorderCutXmin <= x) && (x <= BorderCutXmax) && (BorderCutYmin <= y) && (y <= BorderCutYmax)))
rawImage.Data[x, y] = 0;
}
}
return rawImage;
}
/// <summary>
/// Creates a DepthCorrectionMap from an uncorrected raw image and the desired TableDistance
/// </summary>
/// <param name="uncorrectedImage"></param>
/// <param name="averageTableDistance"></param>
/// <returns></returns>
public DepthCorrectionMap CreateDepthCorrectionMap(DepthImage uncorrectedImage, int averageTableDistance)
{
DepthCorrectionMap correctionMap = new DepthCorrectionMap(uncorrectedImage.Width, uncorrectedImage.Height);
int lastValue = 0;
for (int x = 0; x < uncorrectedImage.Width; x++)
{
for (int y = 0; y < uncorrectedImage.Height; y++)
{
if (uncorrectedImage.Data[x, y] > 0)
{
//Correctly recognized point: calculate correction value
correctionMap.CorrectionData[x, y] = averageTableDistance - uncorrectedImage.Data[x, y];
lastValue = averageTableDistance - uncorrectedImage.Data[x, y];
}
else
{
//Not recognized point (height = 0) use recent calibration value as approximation
correctionMap.CorrectionData[x, y] = lastValue;
}
}
}
return correctionMap;
}
public bool Load(string path)
{
if (!Directory.Exists(path))
return false;
FileStream fstr = null;
try
{
fstr = new FileStream(path + "CorrectionMap.bin", FileMode.Open);
BinaryFormatter bfr = new BinaryFormatter();
object o = bfr.Deserialize(fstr);
DefaultCorrectionMap = (DepthCorrectionMap)o;
fstr.Close();
}
catch
{
if (fstr != null)
fstr.Close();
return false;
}
return true;
}
