/// <summary>
/// NOT a flood fill, standin for testing
/// </summary>
/// <param name="depthData"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="mmCutoff"></param>
/// <returns></returns>
public static PointCluster FloodFill(DepthImagePixel[] depthData, int x, int y, int width, int height, int mmCutoff)
{
HashSet<DepthPoint> resultPoints = new HashSet<DepthPoint>();
for (int i = 0; i < depthData.Length; i++)
{
if (resultPoints.Count > MAX_PIXELS)
break;
if (depthData[i].Depth > 400 && depthData[i].Depth < 4000 && depthData[i].Depth < 1000)
{
int xIdx = i % width;
int yIdx = i / width;
resultPoints.Add(new DepthPoint(xIdx, yIdx, depthData[i].Depth));
}
}
PointCluster result = new PointCluster(resultPoints);
//Console.WriteLine("Before pruning: " + result.points.Count);
result.Prune();
return result;
}
/// <summary>
/// NOT a flood fill, standin for testing
/// </summary>
/// <param name="depthData"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="mmCutoff"></param>
/// <returns></returns>
public static PointCluster FloodFill(DepthImagePixel[] depthData, int x, int y, int width, int height, int mmCutoff)
{
HashSet <DepthPoint> resultPoints = new HashSet <DepthPoint>();
for (int i = 0; i < depthData.Length; i++)
{
if (resultPoints.Count > MAX_PIXELS)
{
break;
}
if (depthData[i].Depth > 400 && depthData[i].Depth < 4000 && depthData[i].Depth < 1000)
{
int xIdx = i % width;
int yIdx = i / width;
resultPoints.Add(new DepthPoint(xIdx, yIdx, depthData[i].Depth));
}
}
PointCluster result = new PointCluster(resultPoints);
//Console.WriteLine("Before pruning: " + result.points.Count);
result.Prune();
return(result);
}
/// <summary>
/// DO NOT REMOVE
/// </summary>
/// <param name="depthData"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="mmCutoff"></param>
/// <returns></returns>
public static PointCluster FloodFill2(DepthImagePixel[] depthData, int x, int y, int width, int height)
{
// Queue of tuples storing <newX, newY, previousDepth>
int mmCutoff = HandTrackingOptionSet.FloodFillDepth;
Queue<Tuple<int, int, DepthImagePixel>> explorePoints = new Queue<Tuple<int, int, DepthImagePixel>>();
HashSet<Tuple<int, int>> exploredPoints = new HashSet<Tuple<int,int>>();
HashSet<DepthPoint> resultPoints = new HashSet<DepthPoint>();
int jumpdistance = 2;
// Filtering on points
// throw out anything closer than 400 and farther than 4000?
explorePoints.Enqueue(new Tuple<int, int, DepthImagePixel>(x, y, depthData[x + y * width]));
exploredPoints.Add(new Tuple<int, int>(x, y));
float baseDepth = depthData[x + y * width].Depth;
//Console.WriteLine("Base Depth: " + baseDepth);
while (explorePoints.Count > 0 && resultPoints.Count < MAX_PIXELS)
{
Tuple<int, int, DepthImagePixel> currentPoint = explorePoints.Dequeue();
DepthImagePixel currentDepth = depthData[currentPoint.Item1 + currentPoint.Item2 * width];
if (//Math.Abs(currentDepth.Depth - currentPoint.Item3.Depth) < mmCutoff &&
Math.Abs(currentDepth.Depth - baseDepth) < mmCutoff &&
Math.Abs(currentPoint.Item1 - x) < PIXEL_WIDTH_EPSILON && Math.Abs(currentPoint.Item2 - y) < PIXEL_HEIGHT_EPSILON)
{
resultPoints.Add(new DepthPoint(currentPoint.Item1, currentPoint.Item2, currentDepth.Depth));
// Add the neighboring points to be explored
Tuple<int, int, DepthImagePixel> leftNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 - jumpdistance, currentPoint.Item2, currentDepth);
Tuple<int, int, DepthImagePixel> rightNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 + jumpdistance, currentPoint.Item2, currentDepth);
Tuple<int, int, DepthImagePixel> topNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 + jumpdistance, currentDepth);
Tuple<int, int, DepthImagePixel> bottomNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 - jumpdistance, currentDepth);
Tuple<int, int> leftNeighborPoint = new Tuple<int, int>(currentPoint.Item1 - jumpdistance, currentPoint.Item2);
Tuple<int, int> rightNeighborPoint = new Tuple<int, int>(currentPoint.Item1 + jumpdistance, currentPoint.Item2);
Tuple<int, int> topNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 + jumpdistance);
Tuple<int, int> bottomNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 - jumpdistance);
/*
Tuple<int, int, DepthImagePixel> leftNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 - 1, currentPoint.Item2, currentDepth);
Tuple<int, int, DepthImagePixel> rightNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 + 1, currentPoint.Item2, currentDepth);
Tuple<int, int, DepthImagePixel> topNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 + 1, currentDepth);
Tuple<int, int, DepthImagePixel> bottomNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 - 1, currentDepth);
Tuple<int, int> leftNeighborPoint = new Tuple<int, int>(currentPoint.Item1 - 1, currentPoint.Item2);
Tuple<int, int> rightNeighborPoint = new Tuple<int, int>(currentPoint.Item1 + 1, currentPoint.Item2);
Tuple<int, int> topNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 + 1);
Tuple<int, int> bottomNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 - 1);
*/
if (leftNeighbor.Item1 >= 0 && !exploredPoints.Contains(leftNeighborPoint))
{
exploredPoints.Add(leftNeighborPoint);
explorePoints.Enqueue(leftNeighbor);
}
if (rightNeighbor.Item1 < width && !exploredPoints.Contains(rightNeighborPoint))
{
exploredPoints.Add(rightNeighborPoint);
explorePoints.Enqueue(rightNeighbor);
}
if (topNeighbor.Item2 < height && !exploredPoints.Contains(topNeighborPoint))
{
exploredPoints.Add(topNeighborPoint);
explorePoints.Enqueue(topNeighbor);
}
if (bottomNeighbor.Item2 >= 0 && !exploredPoints.Contains(bottomNeighborPoint))
{
exploredPoints.Add(bottomNeighborPoint);
explorePoints.Enqueue(bottomNeighbor);
}
}
}
PointCluster result = new PointCluster(resultPoints);
result.Prune();
//exploredPoints.Clear();
//explorePoints.Clear();
return result;
}
/// <summary>
/// DO NOT REMOVE
/// </summary>
/// <param name="depthData"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="mmCutoff"></param>
/// <returns></returns>
public static PointCluster FloodFill2(DepthImagePixel[] depthData, int x, int y, int width, int height)
{
// Queue of tuples storing <newX, newY, previousDepth>
int mmCutoff = HandTrackingOptionSet.FloodFillDepth;
Queue <Tuple <int, int, DepthImagePixel> > explorePoints = new Queue <Tuple <int, int, DepthImagePixel> >();
HashSet <Tuple <int, int> > exploredPoints = new HashSet <Tuple <int, int> >();
HashSet <DepthPoint> resultPoints = new HashSet <DepthPoint>();
int jumpdistance = 2;
// Filtering on points
// throw out anything closer than 400 and farther than 4000?
explorePoints.Enqueue(new Tuple <int, int, DepthImagePixel>(x, y, depthData[x + y * width]));
exploredPoints.Add(new Tuple <int, int>(x, y));
float baseDepth = depthData[x + y * width].Depth;
//Console.WriteLine("Base Depth: " + baseDepth);
while (explorePoints.Count > 0 && resultPoints.Count < MAX_PIXELS)
{
Tuple <int, int, DepthImagePixel> currentPoint = explorePoints.Dequeue();
DepthImagePixel currentDepth = depthData[currentPoint.Item1 + currentPoint.Item2 * width];
if (//Math.Abs(currentDepth.Depth - currentPoint.Item3.Depth) < mmCutoff &&
Math.Abs(currentDepth.Depth - baseDepth) < mmCutoff &&
Math.Abs(currentPoint.Item1 - x) < PIXEL_WIDTH_EPSILON && Math.Abs(currentPoint.Item2 - y) < PIXEL_HEIGHT_EPSILON)
{
resultPoints.Add(new DepthPoint(currentPoint.Item1, currentPoint.Item2, currentDepth.Depth));
// Add the neighboring points to be explored
Tuple <int, int, DepthImagePixel> leftNeighbor = new Tuple <int, int, DepthImagePixel>(currentPoint.Item1 - jumpdistance, currentPoint.Item2, currentDepth);
Tuple <int, int, DepthImagePixel> rightNeighbor = new Tuple <int, int, DepthImagePixel>(currentPoint.Item1 + jumpdistance, currentPoint.Item2, currentDepth);
Tuple <int, int, DepthImagePixel> topNeighbor = new Tuple <int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 + jumpdistance, currentDepth);
Tuple <int, int, DepthImagePixel> bottomNeighbor = new Tuple <int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 - jumpdistance, currentDepth);
Tuple <int, int> leftNeighborPoint = new Tuple <int, int>(currentPoint.Item1 - jumpdistance, currentPoint.Item2);
Tuple <int, int> rightNeighborPoint = new Tuple <int, int>(currentPoint.Item1 + jumpdistance, currentPoint.Item2);
Tuple <int, int> topNeighborPoint = new Tuple <int, int>(currentPoint.Item1, currentPoint.Item2 + jumpdistance);
Tuple <int, int> bottomNeighborPoint = new Tuple <int, int>(currentPoint.Item1, currentPoint.Item2 - jumpdistance);
/*
* Tuple<int, int, DepthImagePixel> leftNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 - 1, currentPoint.Item2, currentDepth);
* Tuple<int, int, DepthImagePixel> rightNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 + 1, currentPoint.Item2, currentDepth);
* Tuple<int, int, DepthImagePixel> topNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 + 1, currentDepth);
* Tuple<int, int, DepthImagePixel> bottomNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 - 1, currentDepth);
*
* Tuple<int, int> leftNeighborPoint = new Tuple<int, int>(currentPoint.Item1 - 1, currentPoint.Item2);
* Tuple<int, int> rightNeighborPoint = new Tuple<int, int>(currentPoint.Item1 + 1, currentPoint.Item2);
* Tuple<int, int> topNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 + 1);
* Tuple<int, int> bottomNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 - 1);
*/
if (leftNeighbor.Item1 >= 0 && !exploredPoints.Contains(leftNeighborPoint))
{
exploredPoints.Add(leftNeighborPoint);
explorePoints.Enqueue(leftNeighbor);
}
if (rightNeighbor.Item1 < width && !exploredPoints.Contains(rightNeighborPoint))
{
exploredPoints.Add(rightNeighborPoint);
explorePoints.Enqueue(rightNeighbor);
}
if (topNeighbor.Item2 < height && !exploredPoints.Contains(topNeighborPoint))
{
exploredPoints.Add(topNeighborPoint);
explorePoints.Enqueue(topNeighbor);
}
if (bottomNeighbor.Item2 >= 0 && !exploredPoints.Contains(bottomNeighborPoint))
{
exploredPoints.Add(bottomNeighborPoint);
explorePoints.Enqueue(bottomNeighbor);
}
}
}
PointCluster result = new PointCluster(resultPoints);
result.Prune();
//exploredPoints.Clear();
//explorePoints.Clear();
return(result);
}