/*public void saveToCSV(string step)
* {
* var csv = new StringBuilder();
*
* // check if scnes dir exists
* if (!Directory.Exists(ProjectConstants.STUDY_DIR))
* {
* // if not create it
* Directory.CreateDirectory(ProjectConstants.STUDY_DIR);
* }
* string path = ProjectConstants.STUDY_DIR+ "\\PBD_"+ this.m_CsvNameTime +".csv";
*
*
* //var newLine = string.Format("{0},{1},{2}{3}", PBDManager.Instance.StartTime.ToString(), PBDManager.Instance.EndTime.ToString(), PBDManager.Instance.DurationTime.ToString(), Environment.NewLine);
* long now = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
* var newLine = string.Format("{0},{1},{2}{3}", step, now, now - m_CsvNameTime, Environment.NewLine);
* csv.Append(newLine);
*
* // File.WriteAllText( path, csv.ToString());
* File.AppendAllText(path, csv.ToString());
* }*/
public void checkAutomaticallyForAssemblyStep()
{
// PDB active?
if (StateManager.Instance.State == AllEnums.State.RECORD && !m_BlockAssemblyCheck && !m_BlockUntilObjectIsBackAgain)
{
long now = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
if (now - m_LlastWithdrawlTimestampInMillis > 10000) // was last withdrawl at least 10 seconds ago?
{
if (now - m_lastWorkingTimestampInMillis > 3000) //threshold
{
//did we already take a snapshot of this period
if (!m_AlreadyDetectedAssembly)
{
// user might be waiting for automatically created step
// check if something happened
AssemblyZone z = AssemblyZoneManager.Instance.createAssemblyZoneFromChanges();
if (z != null)
{
// block assembly until next pick
m_BlockAssemblyCheck = true;
// create a scene for displaying assemblyzone and add it to workflow
Scene.Scene autoScene = new Scene.Scene();
autoScene.Add(z.getDrawable(true));
AdaptiveScene adaptiveScene = new AdaptiveScene(autoScene, AdaptivityLevel.AdaptivityLevels.FirstOrDefault());
EditWorkflowManager.Instance.createStep(AllEnums.PBD_Mode.ASSEMBLY_DONE, adaptiveScene, "Zone-" + z.Id, z.TriggerMessage);
AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones.Add(z);
m_AlreadyDetectedAssembly = true;
// temporarilty display feedback that zone was detected
Scene.Scene feedbackScene = new Scene.Scene();
Scene.SceneText text = new Scene.SceneText(0.5 * KinectManager.Instance.ImageSize.Width, 0.5 * KinectManager.Instance.ImageSize.Height, "Step created", System.Windows.Media.Color.FromRgb(255, 255, 255), 10.0, new System.Windows.Media.FontFamily("Arial"));
feedbackScene.Add(text);
SceneManager.Instance.TemporaryFeedbackScene = feedbackScene;
SceneManager.Instance.DisplayTempFeedback = true;
m_CreatedFeedbackTimestampInMillis = now;
}
// create a new snapshot
if (!m_IsUserWorking)
{
AssemblyZoneManager.Instance.createDepthSnapshot();
}
}
}
}
}
// maybe find a better place for this:
// check if the feedback should still be displayed
long nower = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
if (nower - m_CreatedFeedbackTimestampInMillis > m_FeedbackShow_Time)
{
SceneManager.Instance.DisplayTempFeedback = false;
SceneManager.Instance.TemporaryFeedbackScene.Clear();
}
}
private void ViewPort_Drop(object sender, DragEventArgs e)
{
if (e.Data.GetDataPresent("SceneItem"))
{
string item = e.Data.GetData("SceneItem") as string;
var pos = e.GetPosition(m_Viewport);
var hitRes = VisualTreeHelper.HitTest(m_Viewport, pos);
RayMeshGeometry3DHitTestResult rayMeshRes = hitRes as RayMeshGeometry3DHitTestResult;
if (rayMeshRes != null)
{
double x = (double)rayMeshRes.PointHit.X;
double y = (double)rayMeshRes.PointHit.Y;
Scene.SceneItem s = null;
if (item == typeof(SceneRect).ToString())
{
s = new Scene.SceneRect(x, y, 50, 50, System.Windows.Media.Color.FromRgb(0, 255, 0));
}
else if (item == typeof(SceneText).ToString())
{
s = new Scene.SceneText(x, y, "Text", System.Windows.Media.Color.FromRgb(255, 255, 255), 10.0, new FontFamily("Arial"));
}
else if (item == typeof(SceneTextViewer).ToString())
{
s = new Scene.SceneTextViewer(x, y, 0.2, 0.2, "Text", new FontFamily("Arial"), 10.0, System.Windows.Media.Color.FromRgb(255, 255, 255));
}
else if (item == typeof(SceneCircle).ToString())
{
s = new Scene.SceneCircle(x, y, 10, 0.0, Math.PI * 2.0, System.Windows.Media.Color.FromRgb(0, 255, 0));
}
else if (item == typeof(SceneImage).ToString())
{
s = new Scene.SceneImage(x, y, 100, 100, null);
}
else if (item == typeof(SceneVideo).ToString())
{
s = new Scene.SceneVideo(x, y, 100, 100, null);
}
else if (item == typeof(ScenePolygon).ToString())
{
s = new Scene.ScenePolygon(new Polygon(new Vector2[] { new Vector2(0 + x, 0 + y), new Vector2(50 + x, 50 + y), new Vector2(50 + x, y) }), System.Windows.Media.Color.FromRgb(0, 255, 0));
}
else if (item == typeof(SceneAudio).ToString())
{
s = new Scene.SceneAudio(null);
}
if (s != null)
{
SceneManager.Instance.CurrentScene.Add(s);
}
else
{
throw new NotImplementedException();
}
}
}
}
public void createEndScene(string pName, string pEndcondition)
{
// create a scene for displaying the withdrawel from the box
Scene.Scene autoScene = new Scene.Scene();
Scene.SceneText text = new Scene.SceneText(0.5 * KinectManager.Instance.ImageSize.Width, 0.5 * KinectManager.Instance.ImageSize.Height, "Fertig", System.Windows.Media.Color.FromRgb(255, 255, 255), 10.0, new System.Windows.Media.FontFamily("Arial"));
autoScene.Add(text);
AdaptiveScene adaptiveScene = new AdaptiveScene(autoScene, AdaptivityLevel.AdaptivityLevels.FirstOrDefault());
createStep(AllEnums.PBD_Mode.END_CONDITION, adaptiveScene, pName, pEndcondition);
}
public double fps = 0; // current FPS
private DebugInformationManager()
{
// display GUI FPS
SceneText fpsInfo = new Scene.SceneText(0.43, 0.013, "DebugFPS:", System.Windows.Media.Color.FromRgb(255, 0, 0), 10, new System.Windows.Media.FontFamily("Arial"));
SceneManager.Instance.temporarylyDisplaySceneItem(fpsInfo);
// display Leap FPS
SceneText leapFpsInfo = new Scene.SceneText(0.43, 0.013, "LeapFPS:", System.Windows.Media.Color.FromRgb(255, 0, 0), 10, new System.Windows.Media.FontFamily("Arial"));
SceneManager.Instance.temporarylyDisplaySceneItem(leapFpsInfo);
}
public Scene.SceneText createSceneTextHeadingObjectDetectionZone(ObjectDetectionZone z, string text)
{
int x_offset = SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.X;
int y_offset = SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.Y;
float h = ((float)z.Height / (float)SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.Height);
float w = ((float)z.Width / (float)SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.Width);
float x = ((float)(z.X - x_offset) / (float)SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.Width);
float y = 1.0f - h - ((float)(z.Y - y_offset) / (float)SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.Height);
Color c = System.Windows.Media.Color.FromRgb(255, 255, 0); // yellow
Scene.SceneText textItem = new Scene.SceneText(x, y, text, c, 10.0, new FontFamily("Arial"));
return(textItem);
}
//Code to be called within a certain part of the main ProccessFrame Method
public void Object_ProccessFrame_Draw(bool hasToUpdateUI, Image <Bgra, Byte> pImage)
{
if (m_TakeScreenShotFromZone)
{
if (m_SelectedZone != null)
{
long now = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
if (now - m_ScreenshotTakenTimestamp > 200) // take picture after 200ms - frame should be gone by then
{
// crop image
Rectangle boundingBox = new Rectangle(m_SelectedZone.X, m_SelectedZone.Y, m_SelectedZone.Width, m_SelectedZone.Height);
pImage.ROI = boundingBox;
ObjectDetectionManager.Instance.SaveAndAddObjectToDatabase(pImage);
SceneManager.Instance.DisableObjectScenes = false;
m_TakeScreenShotFromZone = false;
m_SelectedZone = null;
CvInvoke.cvResetImageROI(pImage);
}
}
}
// first clear all the feedback from previous frame
SceneManager.Instance.TemporaryObjectsTextScene.Clear();
// should we check for objects?
if (SettingsManager.Instance.Settings.ObjectsRecognizeObject &&
ObjectDetectionManager.Instance.CurrentLayout != null &&
hasToUpdateUI)
{
// walk over all zones
foreach (ObjectDetectionZone zone in ObjectDetectionManager.Instance.CurrentLayout.ObjectDetectionZones)
{
// crop image
Rectangle boundingBox = new Rectangle(zone.X, zone.Y, zone.Width, zone.Height);
pImage.ROI = boundingBox;
Image <Gray, byte> grayscaleImage = pImage.Copy().Convert <Gray, byte>();
CvInvoke.cvResetImageROI(pImage);
// walk over all objects
foreach (TrackableObject obj in Database.DatabaseManager.Instance.Objects)
{
if (ObjectDetectionManager.Instance.RecognizeObject(obj.EmguImage, grayscaleImage))
{
// YAY we found an object
// trigger stuff
WorkflowManager.Instance.OnObjectRecognized(obj);
// update last seen timestamp
obj.LastSeenTimeStamp = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
obj.LastSeenZoneId = zone.Id;
// display visual feedback
Scene.SceneText textItem = ObjectDetectionManager.Instance.createSceneTextHeadingObjectDetectionZone(zone, obj.Name);
SceneManager.Instance.TemporaryObjectsTextScene.Add(textItem);
}
}
}
}
CvInvoke.cvResetImageROI(pImage);
if (ObjectDetectionManager.Instance.CurrentLayout != null)
{
if (SettingsManager.Instance.Settings.ObjectsVisualFeedbackDisplay && (ObjectDetectionManager.Instance.CurrentLayout.ObjectDetectionZones.Count != 0))
{
//write boxes
MCvFont font = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5);
foreach (ObjectDetectionZone z in ObjectDetectionManager.Instance.CurrentLayout.ObjectDetectionZones)
{
// draw ID
pImage.Draw(z.Id + "", ref font, new System.Drawing.Point(z.X, z.Y), new Bgra(0, 0, 0, 0));
// draw Frame
if (z.wasRecentlyTriggered())
{
pImage.Draw(new Rectangle(z.X, z.Y, z.Width, z.Height), new Bgra(0, 255, 255, 0), 0);
}
else
{
pImage.Draw(new Rectangle(z.X, z.Y, z.Width, z.Height), new Bgra(255, 255, 255, 0), 0);
}
}
}
UtilitiesImage.ToImage(image, pImage);
if (SettingsManager.Instance.Settings.ObjectsVisualFeedbackProject)
{
SceneManager.Instance.TemporaryObjectsScene.Clear();
// add a temporary scene for each box
foreach (ObjectDetectionZone z in ObjectDetectionManager.Instance.CurrentLayout.ObjectDetectionZones)
{
// false = call from the display loop
SceneManager.Instance.TemporaryObjectsScene.Add(ObjectDetectionManager.Instance.createSceneBoxForObjectDetectionZone(z, false));
}
}
else
{
SceneManager.Instance.TemporaryObjectsScene.Clear();
}
}
}
