public object Clone()
{
RecognitionDataPacket p = new RecognitionDataPacket();
if (correctedDepthImage != null)
p.correctedDepthImage = correctedDepthImage.Clone();
if (rawDepthImage != null)
p.rawDepthImage = rawDepthImage.Clone();
if (TableObjects != null)
p.TableObjects = CloneTO();
if (neighbourmap != null)
p.neighbourmap = (int[,,])neighbourmap.Clone();
if (objectmap != null)
p.objectmap = (bool[,]) objectmap.Clone();
if (bmpVideoFrame != null)
p.bmpVideoFrame = (Bitmap) bmpVideoFrame.Clone();
if (bmpRawDepth != null)
p.bmpRawDepth = (Bitmap)bmpRawDepth.Clone();
if (bmpCorrectedDepth != null)
p.bmpCorrectedDepth = (Bitmap) bmpCorrectedDepth.Clone();
if (HandObj != null)
p.HandObj = (HandObject)HandObj.Clone();
p.RecognitionDuration = this.RecognitionDuration;
return p;
}
public bool Init()
{
//Stop everything
Stop();
//init the kinect
_kinectController = new KinectController();
try
{
if (!_kinectController.Init())
return false;
_kinectController.OnDepthFrame += new KinectController.DepthFrameHandler(_kinectController_OnDepthFrame);
_kinectController.OnVideoFrame += new KinectController.VideoFrameHandler(_kinectController_OnVideoFrame);
}
catch (Exception)
{
return false;
}
//init settings
int width = 0;
int height = 0;
SettingsManager.KinectSet.GetDepthResolution(out width, out height);
//init the other classes
PositionMapper.AssignKinectController(_kinectController);
_rthread = new RecognitionThread();
_rthread.OnRecognitionFinished += new RecognitionThread.RecognitionFinished(_rthread_OnRecognitionFinished);
Forms = new FormSupplier(this);
_lastReconPacket = new RecognitionDataPacket();
//Everything worked, return true
return true;
}
void _rthread_OnRecognitionFinished(RecognitionDataPacket result)
{
//Save recognition data
lock (lock_reconpacket)
{
_lastReconPacket = result;
}
//set the running property to false
_recognitionThreadrunning = false;
//raise event
OnNewRecognitionPacket();
}
private void DoRecognitionWork(object data)
{
object[] dataArray = (object[]) data;
PlanarImage pimg = (PlanarImage) dataArray[0];
int[] deptharray = (int[]) dataArray[1];
Bitmap colorFrame = (Bitmap) dataArray[2];
RecognitionDataPacket rpacket = new DataStructures.RecognitionDataPacket();
DateTime dtBegin = DateTime.Now;
//Create DepthImage
DepthImage dimg = new DepthImage(deptharray,pimg.Width,pimg.Height);
rpacket.rawDepthImage = dimg.Clone();
//Correct the image
DepthMapPreprocessor dmp = new DepthMapPreprocessor();
dimg = dmp.ApplyDepthCorrection(dimg, SettingsManager.PreprocessingSet.DefaultCorrectionMap);
dimg = dmp.NormalizeHeights(dimg);
ObjectSeperator objectSeperator = new ObjectSeperator();
//Seperate objects
bool[,] boolmap_object;
int[,,] neighbourmap;
List<TableObject> objects = objectSeperator.SeperateObjects(ref dimg,out boolmap_object,out neighbourmap);
//if supplied, extract the relevant bitmap parts from the ColorFrame
if (colorFrame != null)
{
ObjectVideoBitmapAssigner ovba = new ObjectVideoBitmapAssigner();
ovba.AssignVideoBitmap(objects, colorFrame);
}
//Extract hand object from table objects
if (objects.Where( o => o.GetType() == typeof(HandObject)).Count() > 0)
{
rpacket.HandObj = (HandObject)objects.Where(o => o.GetType() == typeof (HandObject)).ToArray()[0];
}
//Fill DataPacket with Data
rpacket.correctedDepthImage = dimg;
rpacket.TableObjects = objects;
rpacket.objectmap = boolmap_object;
rpacket.neighbourmap = neighbourmap;
rpacket.bmpVideoFrame = colorFrame;
TimeSpan ts = DateTime.Now - dtBegin;
rpacket.RecognitionDuration = (int)Math.Round(ts.TotalMilliseconds);
if (SettingsManager.RecognitionSet.SaveDebugMaps)
{
Bitmap bmp = MapVisualizer.VisualizeDepthImage(rpacket.rawDepthImage);
bmp.Save("rawDepthImage.bmp");
}
//Event
OnRecognitionFinished(rpacket);
}