/// <summary>
/// Function to update a histogram from RGBD at rates rf and rb.
/// The labeling is done on the frame Mask before this function call.
/// </summary>
/// <param name="rf"></param>
/// <param name="rb"></param>
public void UpdateHistogramFromLabeledMask(float rf, float rb, Texture2D colorTex, short[] Mask)
{
ColorHistogram tmpHist = new ColorHistogram(this.BinsNumber, this.FrameWidth, this.FrameHeight); // TODO can this be optimzed?
BuildHistogram(colorTex, Mask);
this.UpdateHistogram(tmpHist, rf, rb);
}
// Update histogram based on an existing histogram
/// <summary>
/// Function to update current HistogramRGB given a new HistogramRGB. However, update it
/// at a decaying rate. Update the foreground at rf rate and background at rb rate.
/// </summary>
public void UpdateHistogram(ColorHistogram newHist, float rf, float rb)
{
for (int i = 0; i < dim; i++)
{
this.data_normalized [i].x = this.data_normalized [i].x * (1 - rf) + newHist.data_normalized [i].x * rf;
this.data_normalized[i].y = this.data_normalized[i].y * (1 - rb) + newHist.data_normalized[i].y * rb;
this.posterior[i] = this.data_normalized[i].x / (this.data_normalized[i].x + this.data_normalized[i].y);
}
}
// Constructor
public FrameManager()
{
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Mapper = _Sensor.CoordinateMapper;
_Reader = _Sensor.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth);
var depthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
DepthWidth = depthFrameDesc.Width;
DepthHeight = depthFrameDesc.Height;
DepthData_full = new ushort[depthFrameDesc.LengthInPixels];
DepthData = new ushort[depthFrameDesc.LengthInPixels / (defines.DOWNSAMPLE * defines.DOWNSAMPLE)];
//DepthRaw = new byte[depthFrameDesc.LengthInPixels * 4];
//DepthTexture_full = new Texture2D( DepthWidth, DepthHeight, TextureFormat.RGBA32, false );
// Set FrameWidth and FrameHeight to the downsampled size
Width = DepthWidth / defines.DOWNSAMPLE;
Height = DepthHeight / defines.DOWNSAMPLE;
var colorFrameDesc = _Sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
ColorWidth = colorFrameDesc.Width;
ColorHeight = colorFrameDesc.Height;
ColorData_full = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
ColorData = new byte[colorFrameDesc.BytesPerPixel * Width * Height];
ColorTexture_full = new Texture2D(ColorWidth, ColorHeight, TextureFormat.RGBA32, false);
ColorTexture = new Texture2D(Width, Height, TextureFormat.RGBA32, false);
ColorTextureVisual = new Texture2D(Width, Height, TextureFormat.RGBA32, false);
//PfImage = new Texture2D( Width, Height, TextureFormat.RGBA32, false );
// Set buffers to align depth data to RGB and to align camera points
ColorPoints_full = new ColorSpacePoint[depthFrameDesc.LengthInPixels];
Camera3DPoints_full = new CameraSpacePoint[DepthWidth * DepthHeight];
Camera3DPoints = new CameraSpacePoint[Width * Height];
PfVec = new float[Width * Height];
Mask = new short[Width * Height];
// Save camera intrinsics matrix
CameraIntrinsics intrinsics = _Mapper.GetDepthCameraIntrinsics();
K = new Matrix4x4();
K.m00 = intrinsics.FocalLengthX / defines.DOWNSAMPLE;
K.m01 = 0;
K.m02 = intrinsics.PrincipalPointX / defines.DOWNSAMPLE;
K.m10 = 0;
K.m11 = intrinsics.FocalLengthY / defines.DOWNSAMPLE;
K.m12 = intrinsics.PrincipalPointY / defines.DOWNSAMPLE;
K.m20 = 0; K.m21 = 0;
K.m22 = 1.0f;// / defines.DOWNSAMPLE;
// TODO print K
Debug.Log("K = " + K);
Debug.Log("Color Width: " + ColorWidth + " Color Height: " + ColorHeight);
Debug.Log("Depth Width: " + DepthWidth + " Depth Height: " + DepthHeight);
Debug.Log(" Width: " + Width + " Height: " + Height);
// Initialize color histogram
histogram = new ColorHistogram(defines.HISTOGRAM_NBIN, Width, Height);
HistogramTexture = new Texture2D(4, 4, TextureFormat.RFloat, false);
//Debug.Log( HistogramTexture.width );
//Debug.Log( HistogramTexture.height );
//Debug.Log( histogram.posterior.Length );
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
}
