public Dictionary<BeamerPoint, KinectPoint> CalibrateBeamerToKinect(IBeamerWindow beamerWindow, IKinect kinect)
{
RunSimpleStrategy(beamerWindow, kinect);
CalculateNewPoints();
return new Dictionary<BeamerPoint, KinectPoint>();
//TODO Implement
//throw new NotImplementedException();
}
protected Calibration()
{
Points = new List<Point>();
beamerToKinect = new Dictionary<BeamerPoint, KinectPoint>();
kinectToRealWorld = new Dictionary<KinectPoint, RealWorldPoint>();
realWorldToArea = new Dictionary<RealWorldPoint, AreaPoint>();
KinectSpace = new List<BeamerPoint>[640,480];
try
{
beamerWindow = new BeamerWindow();
kinect = new Kinect.Kinect();
}
catch (Exception ex)
{
// TODO Exception Handling
}
}
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;
}
public KinectBeamerOperation()
{
CalculateAreaDimensions();
area = new AreaPoint[areaWidth, areaHeight];
try
{
beamerWindow = new BeamerWindow();
kinect = new Kinect.Kinect();
}
catch (Exception ex)
{
// TODO Exception Handling
}
beamerWindow.DisplayBlank();
Thread.Sleep(KinectBeamerCalibration.THREAD_SLEEP);
blankImage = kinect.GetColorImage();
kinectPoints = kinect.CreateKinectPointArray();
}
private void RunSimpleStrategy(IBeamerWindow beamerWindow, IKinect kinect)
{
var simpleStrategy = new CalibrateEdgePoints();
simpleStrategy.CalibrateBeamerToKinect(beamerWindow, kinect);
var edgePoints = Calibration.GetEdgePoints();
pointA = edgePoints.Find((e) => e.Name == "A");
pointB = edgePoints.Find((e) => e.Name == "B");
pointC = edgePoints.Find((e) => e.Name == "C");
pointD = edgePoints.Find((e) => e.Name == "D");
}
