void depthDisplay_MouseDown(object sender, MouseButtonEventArgs e)
{
var p = e.GetPosition(depthDisplay);
var x = (int)(p.X * HandInputParams.DepthWidth / depthDisplay.ActualWidth);
var y = (int)(p.Y * HandInputParams.DepthHeight / depthDisplay.ActualHeight);
var raw = depthManager.PixelData[y * HandInputParams.DepthWidth + x];
Log.DebugFormat("depth = {0}", DepthUtil.RawToDepth(raw));
}
void ConvertDepthImage(short[] depthFrame)
{
var data = Gray.Data;
var scale = (float)255 / HandInputParams.MaxDepth;
for (int r = 0; r < height; r++)
{
for (int c = 0; c < width; c++)
{
var index = r * width + c;
var pixel = depthFrame[index];
var depth = DepthUtil.RawToDepth(pixel);
depth = (depth <HandInputParams.MinDepth || depth> HandInputParams.MaxDepth) ?
HandInputParams.MaxDepth : depth;
data[r, c, 0] = (byte)((HandInputParams.MaxDepth - depth) * scale);
}
}
CvInvoke.cvResize(Gray.Ptr, smallGray.Ptr, INTER.CV_INTER_LINEAR);
}
private void AlignColorImage(short[] depthFrame, Image <Gray, Byte> colorImage)
{
CvInvoke.cvZero(alignedImg.Ptr);
var data = colorImage.Data;
var alignedData = alignedImg.Data;
for (int r = 0; r < height; r++)
{
for (int c = 0; c < width; c++)
{
var depthPixel = depthFrame[r * width + c];
var depth = DepthUtil.RawToDepth(depthPixel);
var cp = mapper.MapDepthPointToColorPoint(c, r, depth);
if (cp.X >= 0 && cp.X < width && cp.Y >= 0 && cp.Y < height)
{
alignedData[r, c, 0] = data[cp.Y, cp.X, 0];
}
}
}
CvInvoke.cvMorphologyEx(alignedImg.Ptr, alignedImg.Ptr, IntPtr.Zero, IntPtr.Zero,
CV_MORPH_OP.CV_MOP_CLOSE, 1);
}
/// <summary>
/// If no bounding box is found, returns the last bounding box.
/// </summary>
/// <returns></returns>
List <Rectangle> FindBestBoundingBox(short[] depthFrame, Skeleton skeleton)
{
CvInvoke.cvConvert(SaliencyProb.Ptr, TempMask.Ptr);
// Non-zero pixels are treated as 1s. Source image content is modifield.
CvInvoke.cvFindContours(TempMask.Ptr, storage, ref contourPtr, StructSize.MCvContour,
RETR_TYPE.CV_RETR_EXTERNAL, CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE, new Point(0, 0));
var contour = new Seq <Point>(contourPtr, null);
SortedList <float, Seq <Point> > bestContours = new SortedList <float, Seq <Point> >();
List <Rectangle> bestBoundingBoxes = new List <Rectangle>();
float z = DefaultZDist;
var hand = SkeletonUtil.GetJoint(skeleton, JointType.HandRight);
if (hand != null)
{
z = hand.Position.Z;
}
double perimThresh = DepthUtil.GetDepthImageLength(width, HandWidth, z) * 2;
FaceModel = SkeletonUtil.GetFaceModel(skeleton, mapper);
for (; contour != null && contour.Ptr.ToInt32() != 0; contour = contour.HNext)
{
var perim = CvInvoke.cvContourPerimeter(contour.Ptr);
if (perim > perimThresh)
{
var rect = contour.BoundingRectangle;
var score = ContourScore(rect);
var center = rect.Center();
int x = (int)center.X;
int y = (int)center.Y;
var depth = DepthUtil.RawToDepth(depthFrame[y * width + x]);
if (!FaceModel.IsPartOfFace(x, y, depth) &&
(bestContours.Count < NumTrackedHands || score > bestContours.ElementAt(0).Key))
{
bestContours.Add(score, contour);
if (bestContours.Count > NumTrackedHands)
{
bestContours.RemoveAt(0);
}
}
}
}
if (bestContours.Count > 0)
{
foreach (var c in bestContours.Values)
{
var rect = c.BoundingRectangle;
CvInvoke.cvCamShift(TrackedDepthFrame.Ptr, rect, new MCvTermCriteria(CamShiftIter),
out connectedComp, out shiftedBox);
var bestBoundingBox = shiftedBox.MinAreaRect();
bestBoundingBoxes.Add(bestBoundingBox);
//FloodFill(TrackedDepthFrame, bestBoundingBox);
//if (bestBoundingBox.Width > 0) {
// TempMask.ROI = bestBoundingBox;
// CvInvoke.cvFindContours(TempMask.Ptr, storage, ref contourPtr, StructSize.MCvContour,
// RETR_TYPE.CV_RETR_EXTERNAL, CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
// new Point(0, 0));
// contour = new Seq<Point>(contourPtr, null);
// Seq<Point> largestContour = null;
// var maxPerim = perimThresh;
// for (; contour != null && contour.Ptr.ToInt32() != 0; contour = contour.HNext) {
// var perim = CvInvoke.cvContourPerimeter(contour.Ptr);
// if (perim > maxPerim) {
// maxPerim = perim;
// largestContour = contour;
// }
// }
// CvInvoke.cvZero(TempMask.Ptr);
// if (largestContour != null)
// TempMask.Draw(largestContour, new Gray(255), -1);
// FilterImage(TrackedDepthFrame, TempMask);
// TempMask.ROI = Rectangle.Empty;
//}
}
}
return(bestBoundingBoxes);
}
private SkeletonPoint FindHand(short[] depthData, Rectangle rect)
{
CvInvoke.cvZero(HandImage.Ptr);
var handImageData = HandImage.Data;
var handMaskData = HandMask.Data;
var playerMaskData = playerMask.Data;
var maxDepth = 0;
var minDepth = Int32.MaxValue;
for (int y = rect.Top; y < rect.Top + rect.Height && y < height; y++)
{
for (int x = rect.Left; x < rect.Left + rect.Width && x < width; x++)
{
if (y > 0 && x > 0 && handMaskData[y, x, 0] > 0 &&
playerMaskData[y, x, 0] > 0)
{
var depth = DepthUtil.RawToDepth(depthData[y * width + x]);
maxDepth = Math.Max(maxDepth, depth);
if (depth < minDepth)
{
minDepth = depth;
}
}
}
}
var scale = (float)255 / (maxDepth - minDepth);
for (int y = rect.Top; y < rect.Top + rect.Height && y < height; y++)
{
for (int x = rect.Left; x < rect.Left + rect.Width && x < width; x++)
{
if (y > 0 && x > 0 && playerMaskData[y, x, 0] > 0 &&
handMaskData[y, x, 0] > 0)
{
var depth = DepthUtil.RawToDepth(depthData[y * width + x]);
handImageData[y, x, 0] = (byte)((maxDepth - depth) * scale);
}
}
}
var connectedComp = new MCvConnectedComp();
var shiftedBox = new MCvBox2D();
CvInvoke.cvCamShift(HandImage.Ptr, rect, new MCvTermCriteria(0.0), out connectedComp,
out shiftedBox);
PrevHand = new windows.Point(HandBox.center.X, HandBox.center.Y);
HandBox = shiftedBox;
var newRect = shiftedBox.MinAreaRect();
var aveDepth = 0.0;
var count = 0;
for (int y = newRect.Top; y < newRect.Top + newRect.Height && y < height; y++)
{
for (int x = newRect.Left; x < newRect.Left + newRect.Width && x < width; x++)
{
if (x > 0 && y > 0 && playerMaskData[y, x, 0] > 0 &&
handMaskData[y, x, 0] > 0)
{
var depth = DepthUtil.RawToDepth(depthData[y * width + x]);
aveDepth += depth;
count++;
}
}
}
aveDepth /= count;
var shiftedCenterX = Math.Max(0, shiftedBox.center.X);
shiftedCenterX = Math.Min(shiftedCenterX, width);
var shiftedCenterY = Math.Max(0, shiftedBox.center.Y);
shiftedCenterY = Math.Min(shiftedCenterY, height);
return(mapper.MapDepthPointToSkeletonPoint((int)shiftedCenterX,
(int)shiftedCenterY, (int)aveDepth));
}