public Microsoft.Kinect.PointF[] ComputeDepthFrameToCameraSpaceTable()
{
float fx = (float)depthCameraMatrix[0, 0];
float fy = (float)depthCameraMatrix[1, 1];
float cx = (float)depthCameraMatrix[0, 2];
float cy = (float)depthCameraMatrix[1, 2];
float[] kappa = new float[] { (float)depthLensDistortion[0], (float)depthLensDistortion[1] };
var table = new Microsoft.Kinect.PointF[depthImageWidth * depthImageHeight];
for (int framey = 0; framey < depthImageHeight; framey++)
{
for (int framex = 0; framex < depthImageWidth; framex++)
{
double xout, yout;
Undistort(fx, fy, cx, cy, kappa, framex, (depthImageHeight - framey), out xout, out yout);
var point = new Microsoft.Kinect.PointF();
point.X = (float)xout;
point.Y = (float)yout;
table[depthImageWidth * framey + framex] = point;
}
}
return(table);
}
//DragDropDecoratorのCanvas.Top,Canvas.Leftプロパティを更新
void inputModel_ManipulationUpdated(object sender, Microsoft.Kinect.Input.KinectManipulationUpdatedEventArgs e)
{
//DragDropDecoratorの親はCanvas
Canvas canvas = _dragDropDecorator.Parent as Canvas;
if (canvas != null)
{
double y = Canvas.GetTop(_dragDropDecorator);
double x = Canvas.GetLeft(_dragDropDecorator);
if (double.IsNaN(x) || double.IsNaN(y))
{
return;
}
Microsoft.Kinect.PointF delta = e.Delta.Translation;
//deltaは-1.0..1.0の相対値で表されているので
//KinectRegionに合わせて拡大
var Dy = delta.Y * _kinectRegion.ActualHeight;
var Dx = delta.X * _kinectRegion.ActualWidth;
Canvas.SetTop(_dragDropDecorator, y + Dy);
Canvas.SetLeft(_dragDropDecorator, x + Dx);
}
}
// store body lean data, -1 to 1 represents -45 deg to 45deg
internal void write_body_lean(Microsoft.Kinect.PointF lean, int i)
{
body_lean[button_number][0][i] = lean.X;
body_lean[button_number][1][i] = lean.Y;
}