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);
}
