void kinect_OnDepthFrame()
{
DateTime time = DateTime.Now;
if (!Ready)
{
Console.WriteLine("");
}
var balls = detector.Detect(kinect);
foreach (var ball in balls)
{
Frame3D frame = new Frame3D()
{
Ball = ball, Time = time
};
tracker.Push(frame);
}
Ready = false;
counter++;
/*if (counter > 24)
* {
* stream.Write(Encoding.UTF8.GetBytes("test".ToCharArray()), 0, "test".Length);
* counter = 0;
* }*/
DisplayOut = detector.DetectorOverlay.Copy();
drawPrediction();
Ready = true;
}
public void Push(Frame3D frame)
{
//try to fit to existing frames
foreach (var btd in trackData)
{
Vector ppos;
double dThresh = 0.0f;
if (btd.ProjFit != null)
{
ppos = btd.ProjFit.PredictPos(frame.Time); //use predicted pos
if (btd.ProjFit is ProjFitQuad)
{
dThresh = distThresh;
}
else if (btd.ProjFit is ProjFitLin)
{
dThresh = distThresh * 1;
}
}
else
{
ppos = btd.Frames.Last().Ball.Position; //just use the only known pos
dThresh = distThresh * 1;
}
double dist = (ppos - frame.Ball.Position).Norm(2);
if (dist <= dThresh)
{
btd.Frames.Add(frame);
if (btd.Frames.Count >= minPointForInterp) //if we have a decent # of data points
{
btd.ProjFit = new ProjFitQuad();
btd.ProjFit.Train(btd.Frames);
}
else if (btd.Frames.Count >= 3)
{
btd.ProjFit = new ProjFitLin();
btd.ProjFit.Train(btd.Frames.OrderByDescending(f => f.Time.Ticks).Take(2).ToList());
}
return;
}
}
//ball not found in predictions of existing balls -- must be new
BallTrackData new_btd = new BallTrackData();
new_btd.ID = i++;
new_btd.Frames.Add(frame);
trackData.Add(new_btd);
}
