private void toolStripButton1_Click(object sender, EventArgs e)
{
// create a stopwatch for FPS calculation
this.stopwatch = new Stopwatch();
// for Alpha, one sensor is supported
kinectSensor = KinectSensor.GetDefault();
if (kinectSensor != null)
{
// open sensor
kinectSensor.Open();
var frameDescription = kinectSensor.DepthFrameSource.FrameDescription;
// get the coordinate mapper
coordinateMapper = kinectSensor.CoordinateMapper;
// create a new particle depth infos
#region Point Cloud
#if false
List<FxVector3f> Points = new List<FxVector3f>();
List<FxVector3f> Colors = new List<FxVector3f>();
for (int x = 0; x < 512; x += 2)
{
for (int y = 0; y < 420; y += 2)
{
for (int z = 0; z < 1; z++)
{
FxVector3f p;
p.x = x * 0.1f;
p.z = y * 0.1f;
p.y = (float)Math.Log(p.x * p.x * p.x + p.z * p.z * p.z - 3 * p.x - 3 * p.z);
Points.Add(p);
Colors.Add(rand.NextFxVector3f());
}
}
}
PointCloud pc = new PointCloud(Points, Colors);
/// add the mesh to the engine mesh list
Engine.g_MeshManager.AddMesh(pc);
#endif
#endregion
// open the reader for the depth frames
reader = kinectSensor.OpenMultiSourceFrameReader(FrameSourceTypes.Depth | FrameSourceTypes.Color);
// allocate space to put the pixels being received and converted
frameData = new ushort[frameDescription.Width * frameDescription.Height];
depthImageMatrix = new FxMatrixF(frameDescription.Width, frameDescription.Height);
depthImageMatrixAve = depthImageMatrix.Copy();
colorPoints = new ColorSpacePoint[frameDescription.Width * frameDescription.Height];
reader.MultiSourceFrameArrived += reader_MultiSourceFrameArrived;
}
else
MessageBox.Show("Error: failed to open kinect sensor");
}
/// <summary>
/// Handles the depth frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_FrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
DepthFrameReference frameReference = e.FrameReference;
if (this.startTime == null)
{
this.startTime = frameReference.RelativeTime;
}
try
{
DepthFrame frame = frameReference.AcquireFrame();
if (frame != null)
{
// DepthFrame is IDisposable
using (frame)
{
FrameDescription frameDescription = frame.FrameDescription;
#region FPS
this.framesSinceUpdate++;
// update status unless last message is sticky for a while
if (DateTime.Now >= nextStatusUpdate)
{
// calcuate fps based on last frame received
double fps = 0.0;
if (stopwatch.IsRunning)
{
stopwatch.Stop();
fps = framesSinceUpdate / stopwatch.Elapsed.TotalSeconds;
stopwatch.Reset();
}
nextStatusUpdate = DateTime.Now + TimeSpan.FromSeconds(1);
toolStripLabel_fps.Text = fps + " " + (frameReference.RelativeTime - this.startTime).ToString() + "mS";
}
if (!stopwatch.IsRunning)
{
framesSinceUpdate = 0;
stopwatch.Start();
}
#endregion
// verify data and write the new depth frame data to the display bitmap
if (((frameDescription.Width * frameDescription.Height) == frameData.Length))
{
// Copy the pixel data from the image to a temporary array
frame.CopyFrameDataToArray(frameData);
coordinateMapper.MapDepthFrameToColorSpace(frameData, colorPoints);
// Get the min and max reliable depth for the current frame
ushort minDepth = frame.DepthMinReliableDistance;
ushort maxDepth = frame.DepthMaxReliableDistance;
float imaxDepth = 1.0f / maxDepth;
for (int i = 0; i < this.frameData.Length; ++i)
{
// Get the depth for this pixel
ushort depth = this.frameData[i];
// To convert to a byte, we're discarding the most-significant
// rather than least-significant bits.
// We're preserving detail, although the intensity will "wrap."
// Values outside the reliable depth range are mapped to 0 (black).
//pixels[i] = 1.0f - ((depth >= minDepth && depth <= maxDepth) ? depth : 0) * imaxDepth;
depthImageMatrix[i] = 1.0f - depth * imaxDepth;
}
if (!oneTimeShot)
{
oneTimeShot = true;
ColorMap cm = new ColorMap(ColorMapDefaults.DeepBlue);
List<FxVector3f> Points = new List<FxVector3f>();
List<FxVector3f> Colors = new List<FxVector3f>();
for (int x = 0; x < frameDescription.Width; x++)
{
for (int y = 0; y < frameDescription.Height; y++)
{
FxVector3f p;
p.x = x * 0.08f;
p.z = y * 0.08f;
p.y = depthImageMatrix[x,y]*5.0f;
Points.Add(p);
#if false
// calculate index into depth array
int depthIndex = (x * frameDescription.Width) + y;
// retrieve the depth to color mapping for the current depth pixel
ColorSpacePoint colorPoint = this.colorPoints[depthIndex];
// make sure the depth pixel maps to a valid point in color space
int colorX = (int)Math.Floor(colorPoint.X + 0.5);
int colorY = (int)Math.Floor(colorPoint.Y + 0.5);
// calculate index into color array
int colorIndex = ((colorY * colorWidth) + colorX) * this.bytesPerPixel;
#else
byte b = (byte)(depthImageMatrix[x, y]*256);
Colors.Add(new FxVector3f(cm[b,0]/256.0f, cm[b,1]/256.0f, cm[b,2]/256.0f));
#endif
}
}
PointCloud pc = new PointCloud(Points, Colors);
/// add the mesh to the engine mesh list
Engine.g_MeshManager.AddMesh(pc);
}
}
}
}
}
catch (Exception)
{
// ignore if the frame is no longer available
}
}
private void addPointCloudToolStripMenuItem_Click(object sender, EventArgs e)
{
mp.Initialize(Engine.g_device);
List<FxVector3f> Points = new List<FxVector3f>();
List<FxVector3f> Colors = new List<FxVector3f>();
Random rand = new Random();
FxVector3f min = new FxVector3f(10);
FxVector3f max = new FxVector3f(1000);
for (int x = 0; x < 512; x += 2)
{
for (int y = 0; y < 420; y += 2)
{
for (int z = 0; z < 1; z++)
{
FxVector3f p;
p.x = x * 0.1f;
p.z = y * 0.1f;
//p.y = (float)(Math.Cos(p.x) * Math.Cos(p.x) + Math.Cos(p.z) * Math.Cos(p.z) + Math.Cos(z) * Math.Cos(z)) * 5;
p.y = (float)Math.Log(p.x * p.x * p.x + p.z * p.z * p.z - 3 * p.x - 3 * p.z);
Points.Add(p);
Colors.Add(rand.NextFxVector3f());
}
}
}
PointCloud pc = new PointCloud(Points, Colors);
/// add the mesh to the engine mesh list
Engine.g_MeshManager.AddMesh(pc);
}
