/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public MainWindow()
{
_iKinect = new Kinect();
InitializeComponent();
this._kinect = _iKinect.DiscoverKinectSensor();
Initialize();
KinectPoint[,] pic1 = _iKinect.GetColorImage(); // 1st Pic: strange area
pic1 = _iKinect.GetColorImage(); //2nd Pic: too dark
pic1 = _iKinect.GetColorImage(); //3rd Pic: not the same brightness as "real" image
pic1 = _iKinect.GetColorImage(); //4th Pic: okay!
MessageBox.Show("Please display the playground", "Display Playground", MessageBoxButton.OK,
MessageBoxImage.Information);
KinectPoint[,] pic2 = _iKinect.GetColorImage();
KinectPoint[,] newPic = _iKinect.GetDifferenceImage(pic2, pic1, 200); //0x64, 0x1E, 0x32
//newPic = CalculateKMeans(newPic);
short[] depthPic = _iKinect.GetDepthImage();
KinectPoint[,] depthAndColorPic = _iKinect.CreateKinectPointArray();
this._colorImageBitmap.WritePixels(this._colorImageBitmapRect, PrintKinectPointArray(newPic, 640, 480), this._colorImageStride, 0);
this._colorImageBitmap2.WritePixels(this._colorImageBitmapRect, PrintKinectPointArray(depthAndColorPic, 640, 480), this._colorImageStride, 0);
this._colorImageBitmap3.WritePixels(this._colorImageBitmapRect, PrintKinectPointArray(pic1, 640, 480), this._colorImageStride,0);
this._colorImageBitmap4.WritePixels(this._colorImageBitmapRect, PrintKinectPointArray(pic2, 640, 480), this._colorImageStride, 0);
this._rawDepthImage.WritePixels(this._rawDepthImageRect, PrintKinectPointArray(depthAndColorPic, 640, 480), this._rawDepthImageStride,0);
this._rawDepthImage2.WritePixels(this._rawDepthImageRect, depthPic, this._rawDepthImageStride, 0);
}
public Dictionary<BeamerPoint, KinectPoint> CalibrateBeamerToKinect(IBeamerWindow beamerWindow, IKinect kinect)
{
var beamerToKinect = new Dictionary<BeamerPoint, KinectPoint>();
var kinectPoints = kinect.CreateKinectPointArray();
for (var i = 0; i < CALIBRATION_POINTS; i++)
{
var beamerPoint = beamerWindow.DisplayCalibrationImageEdge(true, i);
Thread.Sleep(KinectBeamerCalibration.THREAD_SLEEP);
var picture1 = kinect.GetColorImage();
Thread.Sleep(KinectBeamerCalibration.THREAD_SLEEP);
beamerWindow.DisplayCalibrationImageEdge(false, i);
Thread.Sleep(KinectBeamerCalibration.THREAD_SLEEP);
var picture2 = kinect.GetColorImage();
var diffKinectPoints = kinect.GetDifferenceImage(picture1, picture2, KinectBeamerCalibration.THRESHOLD);
//TODO Refactoring
var initPoints = new List<Vector2D>() { new Vector2D { X = 0, Y = 0 } };
var centroids = KMeans.DoKMeans(KinectPointArrayHelper.ExtractBlackPointsAs2dVector(diffKinectPoints), initPoints);
var kinectPoint = kinectPoints[(int)centroids[0].X, (int)centroids[0].Y];
beamerToKinect.Add(beamerPoint, kinectPoint);
var name = "";
switch (i + 1)
{
case 1:
name = "A";
break;
case 2:
name = "B";
break;
case 3:
name = "C";
break;
case 4:
name = "D";
break;
}
Calibration.Points.Add(new Point { Name = name, BeamerPoint = beamerPoint, KinectPoint = kinectPoint });
}
return beamerToKinect;
}
