private AssemblyZone createAssemblyZoneFromFactory(int pX, int pY, int pWidth, int pHeight, bool[,] pMask, bool p7, bool pDetectRemoval, int pArea, Polygon pContour = null)
{
AssemblyZone z = new AssemblyZone(m_IdCounter);
z.Name = m_IdCounter.ToString();
z.TriggerMessage = "z" + m_IdCounter;
m_IdCounter++;
if (pDetectRemoval)
{
z.IsDisassemblyZone = true;
}
z.X = pX;
z.Y = pY;
z.Width = pWidth;
z.Height = pHeight;
z.DepthMask = pMask;
z.UseDepthmask = true;
z.Area = pArea;
z.Contour = pContour;
z.DepthArray = getDepthArrayFromAssemblyZone(z);
z.trigger += WorkflowManager.Instance.OnTriggered;
return(z);
}
public AssemblyZone createAssemblyZoneFromChanges()
{
//TODO: wait for smoothing
Image <Gray, Int32> currentDepthImageCropped = HciLab.Kinect.CameraManager.Instance.DepthImageCropped;
AssemblyZone z = createAssemblyZoneFromChanges(currentDepthImageCropped, false);
AssemblyZone dz = createAssemblyZoneFromChanges(currentDepthImageCropped, true);
if (z == null && dz == null)
{
return(null);
}
if (z != null && dz == null)
{
return(z);
}
if (dz != null && z == null)
{
return(dz);
}
if (z.Area > dz.Area)
{
return(z);
}
else
{
return(dz);
}
}
public AssemblyZone createAssemblyZoneFromFactory()
{
AssemblyZone ret = new AssemblyZone(m_IdCounter);
ret.Name = m_IdCounter.ToString();
ret.TriggerMessage = "z" + m_IdCounter;
m_IdCounter++;
ret.trigger += WorkflowManager.Instance.OnTriggered;
return(ret);
}
public static int[,] getDepthArrayFromAssemblyZone(AssemblyZone pZone)
{
Image <Gray, Int32> pDepthImg = HciLab.Kinect.CameraManager.Instance.DepthImage;
//pDepthImg.ROI = new Rectangle(pZone.X, pZone.Y, pZone;
int[,] depthArray = new int[pZone.Width, pZone.Height];
for (int x = pZone.X; x < pZone.X + pZone.Width; x++)
{
for (int y = pZone.Y; y < pZone.Y + pZone.Height; y++)
{
depthArray[x - pZone.X, y - pZone.Y] = pDepthImg.Data[y, x, 0];
}
}
return(depthArray);
}
public Scene.Scene getAssemblyZoneAutoScene(AssembleyZones.AssemblyZone z)
{
Scene.SceneItem drawable = z.getDrawable(true);
Scene.Scene autoScene;
if (drawable is Scene.Scene)
{
// we already have a scene
autoScene = (Scene.Scene)drawable;
}
else
{
autoScene = new Scene.Scene();
autoScene.Add(drawable);
}
return(autoScene);
}
public void updateCurrentAssemblyZone(AssemblyZone updatedAssemblyZone)
{
m_CurrentLayout.AssemblyZones.ReplaceOrAdd(updatedAssemblyZone);
}