public override IDataContainer PreProcess(IDataContainer dataContainer) { _debugOutputImage = new Image<Rgb, byte>(Width, Height); var rgbImage = dataContainer.OfType<RgbImageData>().ToArray(); if (!rgbImage.Any()) return null; _debugOutputImage += rgbImage.First().Image.Copy(); var devices = dataContainer.OfType<Device>().ToArray(); //var unknownDevices = dataContainer.OfType<Device>().Where(d => !d.IsIdentified).ToArray(); var hands = dataContainer.OfType<Hand>().ToArray(); foreach (var device in devices) { var polyline = new List<Point>(); foreach (var point in device.Shape.Points) { var x = point.X * Width; var y = point.Y * Height; polyline.Add(new Point((int)x, (int)y)); } var centerX = (int)(device.SmoothedCenter.X / 320 * Width); var centerY = (int)(device.SmoothedCenter.Y / 240 * Height); _debugOutputImage.DrawPolyline(polyline.ToArray(), true, device.IsIdentified ? Rgbs.Red : Rgbs.White, 5); if (device.IsIdentified) _debugOutputImage.Draw(string.Format("Id {0}", device.DeviceId), ref EmguFontBig, new Point(centerX, centerY), Rgbs.Red); } foreach (var hand in hands) { var resizedHandSegment = hand.Segment.Resize(_debugOutputImage.Width, _debugOutputImage.Height, INTER.CV_INTER_CUBIC).Mul(255); //_debugOutputImage = _debugOutputImage.Copy(resizedHandSegment.Not()); _debugOutputImage = _debugOutputImage.AddWeighted(resizedHandSegment.Convert<Rgb, byte>(), 1.0, 0.5, 0.0); resizedHandSegment.Dispose(); var point = new Point((int)(hand.RelativeCenter.X * Width), (int)(hand.RelativeCenter.Y * Height)); var labelPoint = new Point((int)(hand.RelativeCenter.X * Width + 30), (int)(hand.RelativeCenter.Y * Height)); _debugOutputImage.Draw(new CircleF(point, 10), Rgbs.Red, 6); _debugOutputImage.Draw(string.Format("Id {0} (d={1:F0})", hand.Id, hand.Depth), ref EmguFontBig, labelPoint, Rgbs.Red); } var debugOutputImageCopy = _debugOutputImage.Copy(); Task.Factory.StartNew(() => { var bitmapSource = debugOutputImageCopy.ToBitmapSource(true); debugOutputImageCopy.Dispose(); return bitmapSource; }).ContinueWith(t => DebugOutputBitmapSource = t.Result); Stage(new RgbImageData(this, "DataRenderer", _debugOutputImage.Copy())); if (_videoWriter != null) _videoWriter.WriteFrame(_debugOutputImage.Convert<Bgr, byte>()); _debugOutputImage.Dispose(); Push(); return base.PreProcess(dataContainer); }