void UpdatePlayerDepthImage(short[] depthFrame, Byte[, ,] playerMask, Byte[, ,] skinMask,
Rectangle roi)
{
// Clear depth image.
CvInvoke.cvZero(DepthImage.Ptr);
var data = DepthImage.Data;
var scale = (float)255 / HandInputParams.MaxDepth;
var roiWidth = width;
var roiHeight = height;
if (!roi.IsEmpty)
{
roiWidth = roi.Width;
roiHeight = roi.Height;
}
for (int r = roi.Top; r < roi.Top + roiHeight; r++)
{
for (int c = roi.Left; c < roi.Left + roiWidth; c++)
{
var index = r * width + c;
short pixel = depthFrame[index];
var depth = DepthUtil.RawToDepth(pixel);
if (IsFilteredPixel(playerMask, skinMask, c, r, depth))
{
data[r, c, 0] = (byte)(Math.Max(0, HandInputParams.MaxDepth - depth) * scale);
}
}
}
}
/// <summary>
///
/// </summary>
/// <param name="depthImg"></param>
/// <param name="colorImg">The aligned color image has the same ROI as the depth image.</param>
/// <param name="depthFrame"></param>
/// <param name="mapper"></param>
public static void AlignImageDepthToColor(Image <Gray, Byte> depthImg,
Image <Gray, Byte> colorImg, short[] depthFrame, CoordinateConverter mapper)
{
var width = colorImg.Width;
var height = colorImg.Height;
CvInvoke.cvZero(colorImg.Ptr);
var depthData = depthImg.Data;
var colorData = colorImg.Data;
var roiWidth = width;
var roidHeight = height;
var roi = depthImg.ROI;
if (!roi.IsEmpty)
{
roiWidth = roi.Width;
roidHeight = roi.Height;
}
for (int r = roi.Top; r < roi.Top + roidHeight; r++)
{
for (int c = roi.Left; c < roi.Left + roiWidth; c++)
{
var depthPixel = depthFrame[r * width + c];
var depth = DepthUtil.RawToDepth(depthPixel);
var cp = mapper.MapDepthPointToColorPoint(c, r, depth);
if (cp.X >= 0 && cp.X < width && cp.Y >= 0 && cp.Y < height)
{
colorData[cp.Y, cp.X, 0] = depthData[r, c, 0];
}
}
}
CvInvoke.cvMorphologyEx(colorImg.Ptr, colorImg.Ptr, IntPtr.Zero, IntPtr.Zero,
CV_MORPH_OP.CV_MOP_CLOSE, 1);
}
public static Image <Gray, Single> CreateCVImage(short[] src, Single[, ,] dst, int width,
int height)
{
for (int r = 0; r < height; r++)
{
for (int c = 0; c < width; c++)
{
dst[r, c, 0] = DepthUtil.RawToDepth(src[r * width + c]);
}
}
return(new Image <Gray, Single>(dst));
}
/// <summary>
///
/// </summary>
/// <param name="depthRect"></param>
/// <param name="depthPixel"></param>
/// <param name="width">frame width</param>
/// <param name="height">frame height</param>
/// <returns></returns>
public Rectangle MapDepthRectToColorRect(Rectangle depthRect, short[] depthPixel, int width,
int height)
{
var y = Clip(depthRect.Top, 0, height - 1);
var x = Clip(depthRect.Left, 0, width - 1);
int depth = DepthUtil.RawToDepth(depthPixel[y * width + x]);
var cpUpperLeft = MapDepthPointToColorPoint(depthRect.X, depthRect.Y, depth);
y = Clip(depthRect.Bottom, 0, height - 1);
x = Clip(depthRect.Right, 0, width - 1);
depth = DepthUtil.RawToDepth(depthPixel[y * width + x]);
var cpBottomRight = MapDepthPointToColorPoint(depthRect.Right, depthRect.Bottom, depth);
return(new Rectangle(cpUpperLeft.X, cpUpperLeft.Y, cpBottomRight.X - cpUpperLeft.X,
cpBottomRight.Y - cpUpperLeft.Y));
}
public static void ColorPlayers(short[] depthFrame, byte[] colorFrame)
{
Array.Clear(colorFrame, 0, colorFrame.Length);
for (int depthIndex = 0, colorIndex = 0; colorIndex < colorFrame.Length; depthIndex++,
colorIndex += Bgr32BytesPerPixel)
{
short pixel = depthFrame[depthIndex];
int player = DepthUtil.RawToPlayerIndex(pixel);
if (player != 0)
{
colorFrame[colorIndex + RedIndex] = 0xff;
colorFrame[colorIndex + GreenIndex] = 0;
colorFrame[colorIndex + BlueIndex] = 0;
}
}
}
/// <summary>
/// Updates player depth image using the player contour.
/// </summary>
/// <param name="depthFrame"></param>
/// <param name="contour"></param>
/// <param name="skinMask"></param>
void UpdatePlayerDepthImage(short[] depthFrame, Seq <Point> contour, Byte[, ,] skinMask)
{
CvInvoke.cvZero(DepthImage.Ptr);
var data = DepthImage.Data;
var scale = (float)255 / HandInputParams.MaxDepth;
for (int r = 0; r < height; r++)
{
for (int c = 0; c < width; c++)
{
var index = r * width + c;
short pixel = depthFrame[index];
var depth = DepthUtil.RawToDepth(pixel);
if (IsPlayerPixel(contour, skinMask, c, r, depth))
{
data[r, c, 0] = (byte)(Math.Max(0, HandInputParams.MaxDepth - depth) * scale);
}
}
}
}
/// <summary>
/// Updates depth player masks.
/// </summary>
/// <param name="depthFrame"></param>
void UpdatePlayerMask(short[] depthFrame)
{
CvInvoke.cvZero(DepthPlayerMask.Ptr);
var data = DepthPlayerMask.Data;
for (int r = 0; r < height; r++)
{
for (int c = 0; c < width; c++)
{
var index = r * width + c;
short pixel = depthFrame[index];
int playerIndex = DepthUtil.RawToPlayerIndex(pixel);
if (playerIndex > 0)
{
data[r, c, 0] = 255;
}
}
}
CvInvoke.cvMorphologyEx(DepthPlayerMask.Ptr, DepthPlayerMask.Ptr,
IntPtr.Zero, IntPtr.Zero, CV_MORPH_OP.CV_MOP_OPEN, CvOpenIter);
}