public VisionImage ProcessImage(Bitmap bmp, ToteDetectionType detectionType, bool detectBins, DepthMap depthMap = null)
{
LastDepthMap = depthMap;
//processing depth image
Bitmap processedBitmap = (Bitmap)ProcessColorImage(bmp, detectionType, detectBins);
return new VisionImage(processedBitmap, depthMap);
}
protected void stream_NewDepthFrame(object sender, Bitmap colorImage, DepthMap depthMap)
{
//Restart The Stopwatch To Calculate How Much Time Does It Take To Process The Image
delayStopWatch.Restart();
Image depthImage = depthMap.GetImage();
Thread.Sleep(20);
OriginalCurrentFrame = new VisionImage(colorImage, depthMap);
ProccessedCurrentFrame = imgProcessor.ProcessImage((Bitmap)OriginalCurrentFrame.colorImage.Clone(), ToteDetectionMethod, detectBins, OriginalCurrentFrame.depthMap.Copy());
updateGuiFunction(OriginalCurrentFrame.colorImage, ProccessedCurrentFrame.colorImage,
depthImage);
newData = true;
fpsCounter++;
delayStopWatch.Stop();
delayCounter += (int)delayStopWatch.ElapsedMilliseconds;
}
public VisionImage(Image colorImage, DepthMap depthMap)
{
this.colorImage = colorImage;
this.depthMap = depthMap;
}
private DepthMap SliceVisionImage(DepthImageFrame image, int min = MinDepthDistance, int max = MaxDepthDistance)
{
int width = image.Width;
int height = image.Height;
//var depthFrame = image.Image.Bits;
short[] rawDepthData = new short[image.PixelDataLength];
image.CopyPixelDataTo(rawDepthData);
var pixels = new byte[height * width * 4];
int usage = 0;
const int BlueIndex = 0;
const int GreenIndex = 1;
const int RedIndex = 2;
for (int depthIndex = 0, colorIndex = 0;
depthIndex < rawDepthData.Length && colorIndex < pixels.Length;
depthIndex++, colorIndex += 4)
{
// Calculate the distance represented by the two depth bytes
int depth = rawDepthData[depthIndex] >> DepthImageFrame.PlayerIndexBitmaskWidth;
if (depthIndex == rawDepthData.Length - 1)
{
usage = depth;
}
// Map the distance to an intesity that can be represented in RGB
if (depth > min && depth < max)
{
// Apply the intensity to the color channels
pixels[colorIndex + BlueIndex] = this.CalculateIntensityFromDistance(depth); //blue - depth precentage out of 255. 255 - 800mm 0 - 4000mm
pixels[colorIndex + GreenIndex] = (byte)(255 - ((depth & 0x000FF0) / 0x000010)); //green - depth divided by 16, used to save the depth
pixels[colorIndex + RedIndex] = (byte)((depth & 0x00000F) / 0x000001); //red
}
}
BitmapSource src = BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, null, pixels, width * 4);
DepthMap map = new DepthMap(BitmapFromSource(src));
return map;
}
public DepthMap Copy()
{
DepthMap copy = new DepthMap(depthMap);
return copy;
}
