public PlaneTrackingCompleteData Track(InputData inputData)
{
var planeData = new PlaneTrackingCompleteData(inputData);
if (planeData.UserParameters.VisualisationType == VisualisationType.RawRGB)
{
planeData.ResultData.VisualisationBitmap = ReturnColorBitmap(planeData.KinectData.ColorFrameData);
}
planeData.PlaneData.CannyDepthData = CannyAppliedToDepthData(planeData.KinectData.CameraSpacePointsFromDepthData);
planeData.PlaneData.MaskOfTable = LocalizedTableMask;
planeData.PlaneData.ColorBitmap = ReturnColorBitmap(planeData.KinectData.ColorFrameData);
var colorImg = ReturnColorImageOfTable(LocalizedTableMask, planeData.KinectData.ColorFrameData, planeData.KinectData.PointsFromColorToDepth);
planeData.PlaneData.MaskedColorImageOfTable = colorImg;
//planeData.MaskedColorImageOfTable._EqualizeHist(); // TODO zjisitit jestli to pomáhá při stabilizaci osvětlení
if (planeData.UserParameters.VisualisationType == VisualisationType.MaskedColorImageOfTable)
{
planeData.ResultData.VisualisationBitmap = colorImg.Bitmap;
}
return(planeData);
}
public ChessboardTrackingCompleteData Calibrate(PlaneTrackingCompleteData planeData, BlockingCollection <Message> outputQueue)
{
var chessboardData = new ChessboardTrackingCompleteData(planeData);
SceneCalibrationSnapshot snapshot;
(BoardReprezentation, snapshot) = ChessboardAlgorithm.LocateChessboard(chessboardData);
outputQueue.Add(new SceneCalibrationSnapshotMessage(snapshot));
RotationAlgorithm.Rotate(BoardReprezentation, chessboardData.KinectData.CameraSpacePointsFromDepthData);
return(chessboardData);
}
public ChessboardTrackingCompleteData Track(PlaneTrackingCompleteData planeData)
{
var chessboardData = new ChessboardTrackingCompleteData(planeData);
RotationAlgorithm.Rotate(BoardReprezentation, chessboardData.KinectData.CameraSpacePointsFromDepthData);
chessboardData.ChessboardData.FieldSize = BoardReprezentation.FieldVector1.Magnitude();
if (chessboardData.UserParameters.VisualisationType == VisualisationType.HighlightedChessboard)
{
chessboardData.ResultData.VisualisationBitmap =
Renderer.ReturnLocalizedChessboardWithTable(
chessboardData.PlaneData.MaskedColorImageOfTable.Bitmap,
chessboardData.PlaneData.MaskOfTable,
chessboardData.KinectData.PointsFromColorToDepth,
chessboardData.KinectData.CameraSpacePointsFromDepthData,
BoardReprezentation.FieldVector1.Magnitude());
}
return(chessboardData);
}
public PlaneTrackingCompleteData Calibrate(InputData inputData)
{
var planeData = new PlaneTrackingCompleteData(inputData);
Data data = new Data(planeData.KinectData.CameraSpacePointsFromDepthData);
data.CutOffMinMaxDepth(PlaneLocalizationConfig.MinDepth, PlaneLocalizationConfig.MaxDepth);
data.Ransac();
data.LargestTableArea();
data.LinearRegression();
data.LargestTableArea();
data.LinearRegression();
data.LargestTableArea();
data.LinearRegression();
data.LargestTableArea();
data.RotationTo2DModified();
LocalizedTableMask = data.ConvexHullAlgorithm();
var colorImg = ReturnColorImageOfTable(LocalizedTableMask, planeData.KinectData.ColorFrameData, planeData.KinectData.PointsFromColorToDepth);
planeData.PlaneData.MaskedColorImageOfTable = colorImg;
return(planeData);
}
