void SourceImagesLoader(string folderLocation)
{
fileNames = Directory.GetFiles(folderLocation, "*.png");
if (fileNames.Length == 0)
{
isSampleImageFolderEmpty = true;
return;
}
// Dispose old images and load new images if PTAMSourceImages is not null
if (PTAMSourceImages != null)
{
for (int imageNumber = 0; imageNumber < fileNames.Length; imageNumber++)
{
PTAMSourceImages[imageNumber].Dispose();
}
}
PTAMSourceImages = new Bitmap[fileNames.Length];
for (int imageNumber = 0; imageNumber < fileNames.Length; imageNumber++)
{
PTAMSourceImages[imageNumber] = new Bitmap(fileNames[imageNumber]);
}
ThreadHelperClass.SetImage(this, imgImagePreview, PTAMSourceImages[0]);
}
void ConvertImages(ConvertMode convertMode, ThresholdImageType type, string SavePath)
{
for (int imagePosition = 0; imagePosition < fileName.Length; imagePosition++)
{
ThreadHelperClass.SetImage(this, imgPreviewImage, this.image[imagePosition].Bitmap);
ThreadHelperClass.SetText(this, lblPreviewImagePosition, "Image " + (imagePosition + 1) + " of " + this.image.Length);
Mat image = new Mat(this.image[imagePosition].Rows, this.image[imagePosition].Cols, DepthType.Cv8U, 1);
CvInvoke.CvtColor(this.image[imagePosition], image, ColorConversion.Bgr2Gray);
Mat resultImage = new Mat(image.Rows, image.Cols, Emgu.CV.CvEnum.DepthType.Cv8U, 1);
if (convertMode == ConvertMode.Automatic)
{
if (type == ThresholdImageType.Normal)
{
CvInvoke.AdaptiveThreshold(image, resultImage, 255, Emgu.CV.CvEnum.AdaptiveThresholdType.GaussianC, Emgu.CV.CvEnum.ThresholdType.Binary, 75, 25);
}
else
{
CvInvoke.AdaptiveThreshold(image, resultImage, 255, Emgu.CV.CvEnum.AdaptiveThresholdType.GaussianC, Emgu.CV.CvEnum.ThresholdType.BinaryInv, 75, 25);
}
}
else
{
if (type == ThresholdImageType.Normal)
{
resultImage = new Image <Bgra, byte>(ImageProcessor.ImageProcessor.RecolorMonochrome(image.Bitmap, threshold)).Mat;
}
else
{
resultImage = new Image <Bgra, byte>(ImageProcessor.ImageProcessor.RecolorMonochromeInverted(image.Bitmap, threshold)).Mat;
}
}
ThreadHelperClass.SetImage(this, imgResultImage, resultImage.Bitmap);
resultImage.Bitmap.Save(SavePath + "\\" + Path.GetFileName(fileName[imagePosition]));
image.Dispose();
resultImage.Dispose();
}
}
// Programatically change icon and creating a simple animation
void IconAnimation()
{
// Get bitmap files
string[] iconAnimationFile = Directory.GetFiles(Application.StartupPath + "\\Sources", "*.png");
// Manual filling
for (int i = 0; i < iconAnimationFile.Length; i++)
{
iconAnimationFile[i] = Application.StartupPath + "\\Sources\\" + (i + 1).ToString() + ".png";
}
// Load bitmap to memory
Bitmap[] sourceIcon = new Bitmap[iconAnimationFile.Length];
for (int iconNumber = 0; iconNumber < iconAnimationFile.Length; iconNumber++)
{
sourceIcon[iconNumber] = new Bitmap(iconAnimationFile[iconNumber]);
}
Icon[] icon = new Icon[sourceIcon.Length];
for (int iconNumber = 0; iconNumber < sourceIcon.Length; iconNumber++)
{
IntPtr Hicon = sourceIcon[iconNumber].GetHicon();
icon[iconNumber] = Icon.FromHandle(Hicon);
}
// Begin animating
int position = 0;
do
{
ThreadHelperClass.SetIcon(this, this, icon[position]);
position++;
if (position == icon.Length)
{
position = 0;
}
Thread.Sleep(1000 / 30);
} while (true);
}
void Kursor3DTestThread()
{
// TODO: Implement actAsModelerModule
ThreadHelperClass.SetText(this, lblStatusValue, "Thread started. Loading images from selected folder to memory...");
ThreadHelperClass.SetText(this, lblStatusValue, "Thread started. Loading images from selected folder to memory...");
#region Test image loader
Bitmap[] sourceImage;
string[] Files = Directory.GetFiles(cursor3DSourceImage, "*.png");
sourceImage = new Bitmap[Files.Length];
for (int fileNumber = 0; fileNumber < Files.Length; fileNumber++)
{
sourceImage[fileNumber] = new Bitmap(Files[fileNumber]);
}
#endregion Test image loader
ThreadHelperClass.SetText(this, lblStatusValue, "Images loaded. " + Files.Length + " files were added to memory");
bool isExitRequested = false;
MMF mappedFile = new MMF();
mappedFile.CreateNewFile("Kursor3DSourceImage", 10000000);
int position = 0;
do
{
Stopwatch overalPerformance = new Stopwatch();
overalPerformance.Start();
// Create preview of loaded image
ThreadHelperClass.SetImage(this, picImagePreview, sourceImage[position]);
ThreadHelperClass.SetText(this, lblStatusValue, "Now previewing image: " + Files[position]);
position++;
if (position == Files.Length)
{
position = 0;
}
#region Receiver threat
receiverThread = new Thread(ResultReceiver);
receiverThread.Start();
#endregion Receiver threat
ThreadHelperClass.SetText(this, lblStatusValue, "Writing image to memory-mapped file");
// Convert image to array and save to tempImage
Stopwatch imageConversionWatcher = new Stopwatch();
imageConversionWatcher.Start();
#region Image converter
byte[] tempImage;
using (var ms = new MemoryStream())
{
sourceImage[position].Save(ms, sourceImage[position].RawFormat);
tempImage = ms.ToArray();
}
#endregion Image converter
imageConversionWatcher.Stop();
ThreadHelperClass.SetText(this, lblImageConversionPerformaceValue, imageConversionWatcher.ElapsedMilliseconds.ToString() + "ms");
Stopwatch MMFWatcher = new Stopwatch();
MMFWatcher.Start();
// Write the image to memory-mapped file
mappedFile.AddInformation(Convert.ToBase64String(tempImage));
MMFWatcher.Stop();
ThreadHelperClass.SetText(this, lblMMFPerformanceValue, MMFWatcher.ElapsedMilliseconds.ToString() + "ms");
ThreadHelperClass.SetText(this, lblStatusValue, "File writen. Sending notification to Cursor 3D");
// Notify Kursor3D Module about the image
SendReport("Kursor3DImageNotifier");
ThreadHelperClass.SetText(this, lblStatusValue, "Module connected. Now waiting for the module to complete the process");
// Wait for receiver thread to complete
if (receiverThread.IsAlive)
{
receiverThread.Join();
}
receiverThread = null;
#region UI setter
ThreadHelperClass.SetText(this, lblStatusValue, "Module has finished the work. Writing the received values");
ThreadHelperClass.SetText(this, lblXPositionValue, x.ToString());
ThreadHelperClass.SetText(this, lblYPositionValue, y.ToString());
ThreadHelperClass.SetText(this, lblZPositionValue, z.ToString());
ThreadHelperClass.SetText(this, lblGestureTypeValue, gestureType);
overalPerformance.Stop();
ThreadHelperClass.SetText(this, lblOveralPerformanceValue, overalPerformance.ElapsedMilliseconds.ToString() + "ms");
ThreadHelperClass.SetText(this, lblKursor3DOverallPerformanceValue, kursor3DOverallPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblKursor3DFindHandThreadPerformanceValue, kursor3DFindHandPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblKursor3DFindDepthThreadPerformanceValue, kursor3DFindDepthPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblKursor3DGestureRecognitionThreadPerformanceValue, kursor3DgestureRecognitionPerformance.ToString() + "ms");
#endregion UI setter
} while (!isExitRequested);
}
void MainFunction()
{
ThreadHelperClass.SetText(this, lblStatusValue, "Loading sample images to memory...");
SourceImagesLoader(txtSampleImagesFolderLocation.Text);
if (isSampleImageFolderEmpty)
{
ThreadHelperClass.SetText(this, lblStatus, "The selected folder has no images or the images is not supported");
}
else
{
ThreadHelperClass.SetText(this, lblStatusValue, "Loading finished. " + PTAMSourceImages.Length + " images were loaded into memory.");
}
Thread.Sleep(100);
ThreadHelperClass.SetText(this, lblStatusValue, "Preparing for sending...");
MMF mappedFile = new MMF();
mappedFile.CreateNewFile(PTAMModuleSourceImageFileName, 10000000);
int position = 0;
do
{
Stopwatch overallPerformance = new Stopwatch();
overallPerformance.Start();
// Create preview of loaded image
ThreadHelperClass.SetImage(this, imgImagePreview, PTAMSourceImages[position]);
ThreadHelperClass.SetText(this, lblStatusValue, "Now previewing image: " + fileNames[position]);
position++;
if (position == fileNames.Length)
{
position = 0;
}
#region Receiver threat
receiverThread = new Thread(ResultReceiver);
receiverThread.Start();
#endregion Receiver threat
ThreadHelperClass.SetText(this, lblStatusValue, "Writing image to memory-mapped file");
#region Image converter
// Convert image to array and save to tempImage
Stopwatch imageConversionWatcher = new Stopwatch();
imageConversionWatcher.Start();
byte[] tempImage;
using (var ms = new MemoryStream())
{
PTAMSourceImages[position].Save(ms, PTAMSourceImages[position].RawFormat);
tempImage = ms.ToArray();
}
imageConversionWatcher.Stop();
testerImageConversionPerformance = imageConversionWatcher.ElapsedMilliseconds;
#endregion Image converter
#region Memory-Mapped File writing
Stopwatch MMFWatcher = new Stopwatch();
MMFWatcher.Start();
// Write the image to memory-mapped file
mappedFile.AddInformation(Convert.ToBase64String(tempImage));
MMFWatcher.Stop();
testerMemoryMappedFilePerformance = MMFWatcher.ElapsedMilliseconds;
#endregion Memory-Mapped File writing
ThreadHelperClass.SetText(this, lblStatusValue, "File writen. Sending notification to PTAM Module");
// Notify Kursor3D Module about the image
SendReport(PTAMModuleNamedPipeSendingChannel);
ThreadHelperClass.SetText(this, lblStatusValue, "Module connected. Now waiting for the module to complete the process");
// Wait for receiver thread to complete
if (receiverThread.IsAlive)
{
receiverThread.Join();
}
receiverThread = null;
ThreadHelperClass.SetText(this, lblStatusValue, "Module has finished the work. Writing the received values");
#region UI setter
#region Pose
#region Position
ThreadHelperClass.SetText(this, lblPositionXValue, receivedXPosition.ToString());
ThreadHelperClass.SetText(this, lblPositionYValue, receivedYPosition.ToString());
ThreadHelperClass.SetText(this, lblPositionZValue, receivedZPosition.ToString());
#endregion Position
#region Orientation
ThreadHelperClass.SetText(this, lblOrientationXValue, receivedXOrientation.ToString());
ThreadHelperClass.SetText(this, lblOrientationYValue, receivedYOrientation.ToString());
ThreadHelperClass.SetText(this, lblOrientationZValue, receivedZOrientation.ToString());
#endregion Orientation
#endregion Pose
#region Points
ThreadHelperClass.SetText(this, lblTotalPointCreatedValue, totalPointsCreated.ToString());
#endregion Points
overallPerformance.Stop();
testerOverallPerformance = overallPerformance.ElapsedMilliseconds;
ThreadHelperClass.SetText(this, lblOverallPerformanceValue, testerOverallPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblMemoryMappedFilePerformanceValue, testerMemoryMappedFilePerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblImageConversionPerformanceValue, testerImageConversionPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblPTAMModuleOverallPerformanceValue, PTAMModuleOverallPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblPTAMModuleTrackingPerformanceValue, PTAMTrackingPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblPTAMModuleMappingPerformanceValue, PTAMMappingPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblPTAMModuleImageConversionPerformanceValue, PTAMImageConversionPerformance.ToString() + "ms");
ThreadHelperClass.SetText(this, lblPTAMModuleMemoryMappedFileReadingPerformanceValue, PTAMMemoryMappedFileReadingPerformance.ToString() + "ms");
#endregion UI setter
} while (!isExitRequested);
}
void ModelerThread()
{
ThreadHelperClass.SetText(this, lblStatusValue, "Requesting the HUB resolution...");
bool isExitRequested = false;
char receivedCode;
NamedPipesServer imageNotifier = new NamedPipesServer();
MMF ImageData;
Bitmap imageReceived;
#region Screen Resolution Request
int width;
int height;
// Connect for first time check for resolution used by main program
NamedPipesServer server = new NamedPipesServer();
server.CreateNewServerPipe("res-pipe", NamedPipesServer.PipeDirection.DirectionInOut, NamedPipesServer.SendMode.MessageMode);
server.WaitForConnection();
string resolution = server.ReadMessage();
// Separate screen width and height
string[] res = resolution.Split('x');
width = Convert.ToInt32(res[0]);
height = Convert.ToInt32(res[1]);
string receivedResolution = "Connected client resolution: " + width + " x " + height;
ThreadHelperClass.SetText(this, lblStatusValue, "HUB's resolution received");
ThreadHelperClass.SetText(this, lblScreenResolutionValue, receivedResolution);
#endregion Screen Resolution Request
bool isFirstTime = true;
do
{
ThreadHelperClass.SetText(this, lblStatusValue, "Waiting new notification...");
try
{
// Memory-mapped file access
server.CreateNewServerPipe("ImageNotifier", NamedPipesServer.PipeDirection.DirectionInOut, NamedPipesServer.SendMode.ByteMode);
server.WaitForConnection();
if (server.ReadByte() == (char)'y')
{
ThreadHelperClass.SetText(this, lblStatusValue, "Receiving image...");
byte[] file = null;
Console.WriteLine('y');
// Load image from Memory-mapped file and display as texture for model.
MMF mappedFile = new MMF();
mappedFile.OpenExisting("MapTest");
file = Convert.FromBase64String(mappedFile.ReadContent(MMF.DataType.DataString));
using (var ms = new MemoryStream(file))
{
imageReceived = new Bitmap(ms);
}
ThreadHelperClass.SetImage(this, imgTesterPreviewImage, imageReceived);
}
}
catch (Exception err)
{
throw;
}
server.Disconnect();
server.ClosePipe();
//try
//{
// imageNotifier.CreateNewServerPipe("test-pipe", NamedPipesServer.PipeDirection.DirectionInOut, NamedPipesServer.SendMode.ByteMode);
// imageNotifier.WaitForConnection();
// receivedCode = (char)imageNotifier.ReadByte();
// imageNotifier.WaitForPipeDrain();
// if (receivedCode == 'x')
// isExitRequested = true;
// else
// isExitRequested = false;
// if (receivedCode == 'y')
// {
// ThreadHelperClass.SetText(this, lblStatusValue, "New notification. Receiving...");
// byte[] file = null;
// // Load image from Memory-mapped file
// MMF mappedFile = new MMF();
// mappedFile.OpenExisting("MapTest");
// file = Convert.FromBase64String(mappedFile.ReadContent(MMF.DataType.DataString));
// using (var ms = new MemoryStream(file))
// {
// imageReceived = new Bitmap(ms);
// }
// ThreadHelperClass.SetImage(this, previewImage, imageReceived);
// }
//}
//catch (Exception err)
//{
// throw;
//}
//server.Disconnect();
//server.ClosePipe();
} while (!isExitRequested);
}
