void ProcessImage(PXCMImage depth)
{
if (depth == null)
{
return;
}
/* Returns the image properties. */
info = depth.QueryInfo();
/* Set the pixel format*/
info.format = PXCMImage.PixelFormat.PIXEL_FORMAT_Y8;
/* Perform blob extraction on the specified depth image.*/
m_blob.ProcessImage(depth);
/* Create an instance of the PXC[M]Image interface to manage image buffer access. */
new_image = mask_utils.PipelineManager.session.CreateImage(info);
results = m_blob.QueryBlobData(0, new_image, out blobData[0]);
if (results == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
/* Get all blob points */
blobPointsPos = new Vector2[6];
blobPointsPos[0] = new Vector2(blobData[0].centerPoint.x * -1, blobData[0].centerPoint.y * -1);
blobPointsPos[1] = new Vector2(blobData[0].topPoint.x * -1, blobData[0].topPoint.y * -1);
blobPointsPos[2] = new Vector2(blobData[0].bottomPoint.x * -1, blobData[0].bottomPoint.y * -1);
blobPointsPos[3] = new Vector2(blobData[0].leftPoint.x * -1, blobData[0].leftPoint.y * -1);
blobPointsPos[4] = new Vector2(blobData[0].rightPoint.x * -1, blobData[0].rightPoint.y * -1);
blobPointsPos[5] = new Vector2(blobData[0].closestPoint.x * -1, blobData[0].closestPoint.y * -1);
/* Sert blob points colors*/
blobPointColors = new Color[6];
blobPointColors[0] = Color.blue;
blobPointColors[1] = Color.yellow;
blobPointColors[2] = Color.yellow;
blobPointColors[3] = Color.yellow;
blobPointColors[4] = Color.yellow;
blobPointColors[5] = Color.green;
DisplayPoints();
results = m_contour.ProcessImage(new_image);
if (results == pxcmStatus.PXCM_STATUS_NO_ERROR && m_contour.QueryNumberOfContours() > 0)
{
/* Retrieve the detected contour points.*/
results = m_contour.QueryContourData(0, out pointOuter[0]);
if (results == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (pointOuter[0] != null && pointOuter[0].Length > 0)
{
DisplayContour(pointOuter[0], 0);
}
}
}
}
new_image.Dispose();
}
void ProcessImage(PXCMImage depth)
{
if (depth == null)
{
return;
}
/* Returns the image properties. */
info = depth.QueryInfo();
/* Set the pixel format*/
info.format = PXCMImage.PixelFormat.PIXEL_FORMAT_Y8;
/* Perform blob extraction on the specified depth image.*/
m_blob.ProcessImage(depth);
/* Create an instance of the PXC[M]Image interface to manage image buffer access. */
new_image = mask_utils.PipelineManager.session.CreateImage(info);
int blobCount = m_blob.QueryNumberOfBlobs();
/* To store all blob points */
blobPointsPos = new List <Vector2>();
/* To store all contour points */
countourPoints = new List <PXCMPointI32>();
for (int i = 0; i < blobCount; i++)
{
results = m_blob.QueryBlobData(i, new_image, out blobData[i]);
if (results == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
blobPointsPos.Add(new Vector2(blobData[i].centerPoint.x * -1, blobData[i].centerPoint.y * -1));
blobPointsPos.Add(new Vector2(blobData[i].topPoint.x * -1, blobData[i].topPoint.y * -1));
blobPointsPos.Add(new Vector2(blobData[i].bottomPoint.x * -1, blobData[i].bottomPoint.y * -1));
blobPointsPos.Add(new Vector2(blobData[i].leftPoint.x * -1, blobData[i].leftPoint.y * -1));
blobPointsPos.Add(new Vector2(blobData[i].rightPoint.x * -1, blobData[i].rightPoint.y * -1));
blobPointsPos.Add(new Vector2(blobData[i].closestPoint.x * -1, blobData[i].closestPoint.y * -1));
DisplayPoints();
results = m_contour.ProcessImage(new_image);
if (results == pxcmStatus.PXCM_STATUS_NO_ERROR && m_contour.QueryNumberOfContours() > 0)
{
results = m_contour.QueryContourData(0, out pointOuter[i]);
DisplayContour(pointOuter[i], i);
}
}
}
new_image.Dispose();
}