private void sessionOfflineModeGlyphDetectToolStripMenuItem_Click(object sender, EventArgs e)
{
IObjectRecogAlgo objectRecognizer = new GlyphBoxObjectRecognition(null, options.prototypeList, 5);
var objectRecognizerIncluded = new Dictionary<IObjectRecogAlgo, bool>();
objectRecognizerIncluded[objectRecognizer] = true;
if (mappingReader == null)
{
mappingReader = new DepthCoordinateMappingReader("coordinateMapping.dat");
}
Task t = Task.Run(async () =>
{
List<Object> detectedObjects = await Utils.DetectObjects("Progress on " + currentSession.sessionName, currentSession.getVideo(0),
currentSession.getDepth(0),
new List<IObjectRecogAlgo> { objectRecognizer }, objectRecognizerIncluded,
(depthImage, result) => mappingReader.projectDepthImageToCameraSpacePoint(depthImage,
currentSession.getDepth(0).depthWidth,
currentSession.getDepth(0).depthHeight,
currentSession.getVideo(0).frameWidth,
currentSession.getVideo(0).frameHeight, result)
);
// Run on UI thread
this.Invoke((MethodInvoker)delegate
{
AddDetectedObjects(detectedObjects);
});
});
}
private void generate3d_Click(object sender, EventArgs e)
{
// Current assumption is that the depth field is the first one
var depthReader = o.session.getDepth(0);
var mappingReader = new DepthCoordinateMappingReader("coordinateMapping.dat");
if (depthReader != null)
{
o.generate3d(depthReader, mappingReader);
}
}
/// <summary>
///
/// </summary>
/// <param name="depthReader"></param>
/// <param name="mappingHelper"></param>
/// <returns> If the object is 3d-generated </returns>
internal virtual bool generate3d(BaseDepthReader depthReader, DepthCoordinateMappingReader mappingHelper)
{
if (depthReader == null)
{
Console.WriteLine("depthReader is null ");
return false;
}
if (mappingHelper == null)
{
Console.WriteLine("mappingHelper is null ");
return false;
}
switch (this.genType)
{
case GenType.MANUAL:
var voxMLReader = VoxMLReader.getDefaultVoxMLReader();
var voxMLType = voxMLReader.getVoxMLType(this.semanticType);
string inform = "";
if (voxMLType.HasValue)
{
inform = "Object 3d will be generated based on VoxML semantic type " + voxMLType.Value.pred;
}
else
{
inform = "There is no corresponding VoxML semantic type. The boundary of objects will be projected directly onto 3d. Do you want to continue?";
}
var result = System.Windows.Forms.MessageBox.Show(inform, "Generate 3D", System.Windows.Forms.MessageBoxButtons.YesNo);
if (result == System.Windows.Forms.DialogResult.Yes)
{
foreach (var entry in objectMarks)
{
int frameNo = entry.Key;
// Mapping depth image
// At this point we use video frameNo
// It's actually just an approximation for the depth frameNo
Point3[,] colorSpaceToCameraSpacePoint = mappingHelper.projectDepthImageToColor(depthReader.readFrame(frameNo),
depthReader.getWidth(),
depthReader.getHeight(),
session.getVideo(videoFile).frameWidth,
session.getVideo(videoFile).frameHeight);
LocationMark objectMark = entry.Value;
List<PointF> boundary = new List<PointF>();
List<Point3> boundary3d = new List<Point3>();
if (this is RectangleObject)
{
var boundingBox = ((RectangleLocationMark)objectMark).boundingBox;
boundary.Add(new PointF(boundingBox.X, boundingBox.Y));
boundary.Add(new PointF(boundingBox.X + boundingBox.Width, boundingBox.Y));
boundary.Add(new PointF(boundingBox.X, boundingBox.Y + boundingBox.Height));
boundary.Add(new PointF(boundingBox.X + boundingBox.Width, boundingBox.Y + boundingBox.Height));
}
else if (this is PolygonObject)
{
boundary.AddRange(((PolygonLocationMark2D)objectMark).boundingPolygon);
}
// Using flat information if possible
if (voxMLType.HasValue && voxMLType.Value.concavity == "Flat")
{
// First algorithm : has completed
// Using the majority of points to infer the exact locations
// of corner points
// Divide the diagonal between any two corners
// into noOfInner + 1 sub-segments
// int noOfInner = 2;
// Create a list of inner points for the surface
// by linear combination of corners
//List<PointF> innerPoints = new List<PointF>();
//for (int i = 0; i < boundary.Count; i++)
// for (int j = i + 1; j < boundary.Count; j++) {
// var start = boundary[i];
// var end = boundary[j];
// for ( int k = 0; k < noOfInner; k ++ )
// {
// var p = new PointF((start.X * (k + 1) + end.X * (noOfInner - k)) / (noOfInner + 1),
// (start.Y * (k + 1) + end.Y * (noOfInner - k)) / (noOfInner + 1));
// innerPoints.Add(p);
// }
// }
//// Add the original corner points
//innerPoints.AddRange(boundary);
int tryDivide = 10;
// Second algorithm, work only if one corner point is retrievable
PointF anchorCorner = new PointF();
Point3 anchorPoint = nullCameraSpacePoint;
foreach (PointF p in boundary)
{
Point3 cameraSpacePoint = getCameraSpacePoint(colorSpaceToCameraSpacePoint, p);
if (cameraSpacePoint != null && !cameraSpacePoint.Equals(nullCameraSpacePoint))
{
anchorCorner = p;
anchorPoint = cameraSpacePoint;
break;
}
}
if (!anchorPoint.Equals(nullCameraSpacePoint))
{
foreach (PointF corner in boundary)
{
Point3 cameraSpacePoint = getCameraSpacePoint(colorSpaceToCameraSpacePoint, corner);
// If point p is out of the depth view
if (cameraSpacePoint.Equals(nullCameraSpacePoint))
{
var start = anchorCorner;
var end = corner;
var added = false;
// For each value of k, try to get the point
// between anchorCorner and corner
// that divide the segment into 1 andk k - 1
for (int k = 2; k < tryDivide; k++)
{
var p = new PointF((start.X + end.X * (k - 1)) / k,
(start.Y + end.Y * (k - 1)) / k);
Point3 middleCameraSpacePoint = getCameraSpacePoint(colorSpaceToCameraSpacePoint, p);
if (middleCameraSpacePoint != null && !middleCameraSpacePoint.Equals(nullCameraSpacePoint))
{
var inferred_p = new Point3()
{
X = anchorPoint.X + (middleCameraSpacePoint.X - anchorPoint.X) * k,
Y = anchorPoint.Y + (middleCameraSpacePoint.Y - anchorPoint.Y) * k,
Z = anchorPoint.Z + (middleCameraSpacePoint.Z - anchorPoint.Z) * k,
};
boundary3d.Add(inferred_p);
added = true;
break;
}
}
// If that doesn't work
if (!added)
{
boundary3d.Add(nullCameraSpacePoint);
}
}
else
{
boundary3d.Add(cameraSpacePoint);
}
}
}
}
else
{
// Just mapping to 3d points
foreach (PointF p in boundary)
{
Point3 cameraSpacePoint = getCameraSpacePoint(colorSpaceToCameraSpacePoint, p);
if (cameraSpacePoint != null && !cameraSpacePoint.Equals(nullCameraSpacePoint))
{
boundary3d.Add(cameraSpacePoint);
}
else
{
boundary3d.Add(nullCameraSpacePoint);
}
}
}
set3DBounding(frameNo, new PolygonLocationMark3D(frameNo, boundary3d));
}
}
break;
default:
return false;
}
this.objectType = ObjectType._3D;
return true;
}