public void SearchForObject(PXCMCapture.Sample sample, managed_obj_detector.ProcessParams processParams)
{
//////if (processParams.qualityEstimationMethod == managed_obj_detector.QualityEstimationMethod.DepthChange)
//////{
////// this.computePixelQualityFromDepth(sample.depth);
//////}
//////else if (processParams.qualityEstimationMethod == managed_obj_detector.QualityEstimationMethod.DepthClusters)
//////{
////// this.depthToScan(sample.depth);
////// this.computePixelQualityFromDepthClusters(sample.depth, processParams);
//////}
//////else if (processParams.qualityEstimationMethod == managed_obj_detector.QualityEstimationMethod.ColorClusters)
//////{
this.computePixelQualityFromClusters(sample, processParams);
//////}
//////else
//////{
////// this.depthToScan(sample.depth);
////// this.computePixelQualityFromNormals(processParams);
//////}
}
private void computePixelQualityFromClusters(PXCMCapture.Sample sample, managed_obj_detector.ProcessParams processParams)
{
this.loadRgbIrDXyzPoints(sample);
obj_detector.clusterize(this.rgb_ir_d_xyz_points, processParams);
if (rosPublisher.isStarted() && obj_detector.GotTarget)
rosPublisher.publishPose(obj_detector.TargetXyz.x, obj_detector.TargetXyz.y, obj_detector.TargetXyz.z);
}
private void computePixelQualityFromDepthClusters(PXCMImage depthImage, managed_obj_detector.ProcessParams processParams)
{
//////UInt16[] pixelDepths = getUInt16Depths(depthImage);
//////if (pixelDepths != null) //minDepth < maxDepth)
//////{
////// obj_detector.computePixelQualityFromDepthClusters(pixelDepths, this.invalid_value, pixelQuality, processParams.depthClustersParams);
////// if (rosPublisher.isStarted() && obj_detector.GotTarget)
////// rosPublisher.publishPose(obj_detector.TargetXyz.x / 1000.0, obj_detector.TargetXyz.y / 1000.0, obj_detector.TargetXyz.z / 1000.0);
//////}
//////else
////// setAllNan();
}