private byte[] BuildSDSLFrame(ShapeClip[] clips)
{
MemoryStream stream = new MemoryStream();
stream.WriteByte((byte)0x02 + 128);
// (3 positionComponents + 3 normalComponents) * (4 floatBytes)
var payload_length = clips.Length * (3 + 3) * 4;
if (payload_length > UInt16.MaxValue)
{
stream.WriteByte(127);
var lengthBytes = ToBigEndianBytes<ulong>(payload_length);
stream.Write(lengthBytes, 0, lengthBytes.Length);
}
else if (payload_length > 125)
{
stream.WriteByte(126);
var lengthBytes = ToBigEndianBytes<ushort>(payload_length);
stream.Write(lengthBytes, 0, lengthBytes.Length);
}
else
{
stream.WriteByte((byte)payload_length);
}
for (int i = 0; i < clips.Length; i++)
{
ShapeClip clip = clips[i];
// position
foreach (float comp in clip.Position.ToArray()) stream.Write(BitConverter.GetBytes(comp), 0, 4);
stream.Write(BitConverter.GetBytes(0.0f), 0, 4);
// normal
stream.Write(BitConverter.GetBytes(0.0f), 0, 4);
stream.Write(BitConverter.GetBytes(0.0f), 0, 4);
stream.Write(BitConverter.GetBytes(1.0f), 0, 4);
}
return stream.ToArray();
}
private byte[] BuildDriverFrame(ShapeClip[] clips)
{
MemoryStream stream = new MemoryStream();
stream.WriteByte((byte)0x02 + 128);
// (2 positionComponents + 1 rotationComponents) * (4 floatBytes)
var payload_length = clips.Length * (2 + 1) * 4;
if (payload_length > UInt16.MaxValue)
{
stream.WriteByte(127);
var lengthBytes = ToBigEndianBytes<ulong>(payload_length);
stream.Write(lengthBytes, 0, lengthBytes.Length);
}
else if (payload_length > 125)
{
stream.WriteByte(126);
var lengthBytes = ToBigEndianBytes<ushort>(payload_length);
stream.Write(lengthBytes, 0, lengthBytes.Length);
}
else
{
stream.WriteByte((byte)payload_length);
}
for (int i = 0; i < clips.Length; i++)
{
ShapeClip clip = clips[i];
// position
stream.Write(BitConverter.GetBytes(clip.Position.X), 0, 4);
stream.Write(BitConverter.GetBytes(clip.Position.Y), 0, 4);
// rotation
stream.Write(BitConverter.GetBytes((float)clip.Angle), 0, 4);
}
return stream.ToArray();
}
public ShapeClip[] DetectClips(IplImage copy, int threshold = 230)
{
//using (IplImage copy = image.Clone())
{
Cv.Threshold(copy, copy, threshold, 255, ThresholdType.Binary);
// find contours
CvSeq <CvPoint> contours;
CvMemStorage storage = new CvMemStorage();
using (IplImage contourImage = copy.Clone())
Cv.FindContours(contourImage, storage, out contours, CvContour.SizeOf, ContourRetrieval.Tree, ContourChain.ApproxSimple);
List <ShapeClip> result = new List <ShapeClip>();
for (CvSeq <CvPoint> contour = contours; contour != null; contour = contour.HNext)
{
ShapeClip clip = DetectClip(contour, copy);
if (clip != null)
{
result.Add(clip);
}
}
return(result.ToArray());
}
}
