int find_code(ColorImageFrame colorFrame, DepthImageFrame depthFrame)
{
ZXing.Kinect.BarcodeReader reader = new ZXing.Kinect.BarcodeReader();
if (colorFrame != null)
{
//Decode the colorFrame
var result = reader.Decode(colorFrame);
if (result != null)
{
string val = result.Text;
int code_num = Convert.ToInt32(val);
double center_x = result.ResultPoints[0].X + 0.5 * (result.ResultPoints[2].X - result.ResultPoints[0].X);
double center_y = result.ResultPoints[0].Y + 0.5 * (result.ResultPoints[2].Y - result.ResultPoints[0].Y);
code_size = new Point((result.ResultPoints[2].X - result.ResultPoints[0].X), (result.ResultPoints[2].Y - result.ResultPoints[0].Y));
// Must mirror the coordinate here -- the depth frame comes in mirrored.
center_x = 640 - center_x;
// Map the color frame onto the depth frame
DepthImagePixel[] depthPixel = new DepthImagePixel[depthFrame.PixelDataLength];
depthFrame.CopyDepthImagePixelDataTo(depthPixel);
DepthImagePoint[] depthImagePoints = new DepthImagePoint[sensor.DepthStream.FramePixelDataLength];
sensor.CoordinateMapper.MapColorFrameToDepthFrame(sensor.ColorStream.Format, sensor.DepthStream.Format, depthPixel, depthImagePoints);
// Get the point in the depth frame at the center of the barcode
int center_point_color_index = (int)center_y * 640 + (int)center_x;
DepthImagePoint converted_depth_point = depthImagePoints[center_point_color_index];
Point p = new Point(converted_depth_point.X, converted_depth_point.Y);
code_points[code_num] = p;
Console.WriteLine("Found code " + code_num + " at (" + center_x + ", " + center_y + ") in color coordinates.");
Console.WriteLine("Translated to (" + p.X + ", " + p.Y + ") in depth coordinates.");
return(code_num);
}
}
return(-1);
}
int find_code(ColorImageFrame colorFrame, DepthImageFrame depthFrame)
{
ZXing.Kinect.BarcodeReader reader = new ZXing.Kinect.BarcodeReader();
if (colorFrame != null)
{
//Decode the colorFrame
var result = reader.Decode(colorFrame);
if (result != null)
{
string val = result.Text;
int code_num = Convert.ToInt32(val);
double center_x = result.ResultPoints[0].X + 0.5 * (result.ResultPoints[2].X - result.ResultPoints[0].X);
double center_y = result.ResultPoints[0].Y + 0.5 * (result.ResultPoints[2].Y - result.ResultPoints[0].Y);
code_size = new Point((result.ResultPoints[2].X - result.ResultPoints[0].X), (result.ResultPoints[2].Y - result.ResultPoints[0].Y));
// Must mirror the coordinate here -- the depth frame comes in mirrored.
center_x = 640 - center_x;
// Map the color frame onto the depth frame
DepthImagePixel[] depthPixel = new DepthImagePixel[depthFrame.PixelDataLength];
depthFrame.CopyDepthImagePixelDataTo(depthPixel);
DepthImagePoint[] depthImagePoints = new DepthImagePoint[sensor.DepthStream.FramePixelDataLength];
sensor.CoordinateMapper.MapColorFrameToDepthFrame(sensor.ColorStream.Format, sensor.DepthStream.Format, depthPixel, depthImagePoints);
// Get the point in the depth frame at the center of the barcode
int center_point_color_index = (int)center_y * 640 + (int)center_x;
DepthImagePoint converted_depth_point = depthImagePoints[center_point_color_index];
Point p = new Point(converted_depth_point.X, converted_depth_point.Y);
code_points[code_num] = p;
Console.WriteLine("Found code " + code_num + " at (" + center_x + ", " + center_y + ") in color coordinates.");
Console.WriteLine("Translated to (" + p.X + ", " + p.Y + ") in depth coordinates.");
return code_num;
}
}
return -1;
}
