/// <summary>
/// creates a mesh from the current volume and tries to save it to a file
/// </summary>
/// <param name="volume">the volume</param>
/// <param name="pkdp">the data package the mesh origined from</param>
/// <param name="flipAxes">should achses be flipped?</param>
static void exportMesh(ColorReconstruction volume, KinectDataPackage pkdp, bool flipAxes)
{
ColorMesh mesh = volume.CalculateMesh(1);
Microsoft.Win32.SaveFileDialog dialog = new Microsoft.Win32.SaveFileDialog();
dialog.FileName = "KinectFusionMesh_" + pkdp.usedConfig.name + DateTime.UtcNow.ToShortDateString() + ".stl";
dialog.Filter = "STL Mesh Files|*.stl|All Files|*.*";
if (true == dialog.ShowDialog())
{
using (BinaryWriter writer = new BinaryWriter(dialog.OpenFile()))
{
if (null == mesh || null == writer)
{
return;
}
var vertices = mesh.GetVertices();
var normals = mesh.GetNormals();
var indices = mesh.GetTriangleIndexes();
// Check mesh arguments
if (0 == vertices.Count || 0 != vertices.Count % 3 || vertices.Count != indices.Count)
{
throw new Exception("Invalid Mesh Arguments");
}
char[] header = new char[80];
writer.Write(header);
// Write number of triangles
int triangles = vertices.Count / 3;
writer.Write(triangles);
// Sequentially write the normal, 3 vertices of the triangle and attribute, for each triangle
for (int i = 0; i < triangles; i++)
{
// Write normal
var normal = normals[i * 3];
writer.Write(normal.X);
writer.Write(flipAxes ? -normal.Y : normal.Y);
writer.Write(flipAxes ? -normal.Z : normal.Z);
// Write vertices
for (int j = 0; j < 3; j++)
{
var vertex = vertices[(i * 3) + j];
writer.Write(vertex.X);
writer.Write(flipAxes ? -vertex.Y : vertex.Y);
writer.Write(flipAxes ? -vertex.Z : vertex.Z);
}
ushort attribute = 0;
writer.Write(attribute);
}
}
}
}
[ExcludeFromCodeCoverage] //Cannot test this as it requires a Kinect ColorMesh which is dependent on the Kinect API:
//you can't construct this yourself
public static CVMesh ConvertToMesh(ColorMesh mesh)
{
CVMesh m = new CVMesh();
m.Colors.AddRange(mesh.GetColors());
m.Normals.AddRange(mesh.GetNormals());
m.TriangleIndeces.AddRange(mesh.GetTriangleIndexes());
m.Vertices.AddRange(mesh.GetVertices());
return(m);
}
/// <summary>
/// Save mesh in binary .STL file
/// </summary>
/// <param name="mesh">Calculated mesh object</param>
/// <param name="writer">Binary file writer</param>
/// <param name="flipAxes">Flag to determine whether the Y and Z values are flipped on save,
/// default should be true.</param>
public static void SaveBinaryStlMesh(ColorMesh mesh, BinaryWriter writer, bool flipAxes)
{
if (null == mesh || null == writer)
{
return;
}
var vertices = mesh.GetVertices();
var normals = mesh.GetNormals();
var indices = mesh.GetTriangleIndexes();
// Check mesh arguments
if (0 == vertices.Count || 0 != vertices.Count % 3 || vertices.Count != indices.Count)
{
throw new ArgumentException(Properties.Resources.InvalidMeshArgument);
}
char[] header = new char[80];
writer.Write(header);
// Write number of triangles
int triangles = vertices.Count / 3;
writer.Write(triangles);
// Sequentially write the normal, 3 vertices of the triangle and attribute, for each triangle
for (int i = 0; i < triangles; i++)
{
// Write normal
var normal = normals[i * 3];
writer.Write(normal.X);
writer.Write(flipAxes ? -normal.Y : normal.Y);
writer.Write(flipAxes ? -normal.Z : normal.Z);
// Write vertices
for (int j = 0; j < 3; j++)
{
var vertex = vertices[(i * 3) + j];
writer.Write(vertex.X);
writer.Write(flipAxes ? -vertex.Y : vertex.Y);
writer.Write(flipAxes ? -vertex.Z : vertex.Z);
}
ushort attribute = 0;
writer.Write(attribute);
}
}
/// <summary>
/// Save mesh in ASCII WaveFront .OBJ file
/// </summary>
/// <param name="mesh">Calculated mesh object</param>
/// <param name="writer">The text writer</param>
/// <param name="flipAxes">Flag to determine whether the Y and Z values are flipped on save,
/// default should be true.</param>
public static void SaveAsciiObjMesh(ColorMesh mesh, TextWriter writer, bool flipAxes)
{
if (null == mesh || null == writer)
{
return;
}
try
{
var vertices = mesh.GetVertices();
var normals = mesh.GetNormals();
var indices = mesh.GetTriangleIndexes();
// Check mesh arguments
if (0 == vertices.Count || 0 != vertices.Count % 3 || vertices.Count != indices.Count)
{
throw new ArgumentException(Properties.Resources.InvalidMeshArgument);
}
// Write the header lines
writer.WriteLine("#");
writer.WriteLine("# OBJ file created by Microsoft Kinect Fusion");
writer.WriteLine("#");
// Sequentially write the 3 vertices of the triangle, for each triangle
for (int i = 0; i < vertices.Count; i++)
{
var vertex = vertices[i];
string vertexString = "v " + vertex.X.ToString(CultureInfo.InvariantCulture) + " ";
if (flipAxes)
{
vertexString += (-vertex.Y).ToString(CultureInfo.InvariantCulture) + " " + (-vertex.Z).ToString(CultureInfo.InvariantCulture);
}
else
{
vertexString += vertex.Y.ToString(CultureInfo.InvariantCulture) + " " + vertex.Z.ToString(CultureInfo.InvariantCulture);
}
writer.WriteLine(vertexString);
}
// Sequentially write the 3 normals of the triangle, for each triangle
for (int i = 0; i < normals.Count; i++)
{
var normal = normals[i];
string normalString = "vn " + normal.X.ToString(CultureInfo.InvariantCulture) + " ";
if (flipAxes)
{
normalString += (-normal.Y).ToString(CultureInfo.InvariantCulture) + " " + (-normal.Z).ToString(CultureInfo.InvariantCulture);
}
else
{
normalString += normal.Y.ToString(CultureInfo.InvariantCulture) + " " + normal.Z.ToString(CultureInfo.InvariantCulture);
}
writer.WriteLine(normalString);
}
// Sequentially write the 3 vertex indices of the triangle face, for each triangle
// Note this is typically 1-indexed in an OBJ file when using absolute referencing!
for (int i = 0; i < vertices.Count / 3; i++)
{
string baseIndex0 = ((i * 3) + 1).ToString(CultureInfo.InvariantCulture);
string baseIndex1 = ((i * 3) + 2).ToString(CultureInfo.InvariantCulture);
string baseIndex2 = ((i * 3) + 3).ToString(CultureInfo.InvariantCulture);
string faceString = "f " + baseIndex0 + "//" + baseIndex0 + " " + baseIndex1 + "//" + baseIndex1 + " " + baseIndex2 + "//" + baseIndex2;
writer.WriteLine(faceString);
}
}
catch
{
}
}
/// <summary>
/// Save mesh in binary .STL file
/// </summary>
/// <param name="mesh">Calculated mesh object</param>
/// <param name="writer">Binary file writer</param>
/// <param name="flipAxes">Flag to determine whether the Y and Z values are flipped on save,
/// default should be true.</param>
public static void SaveBinaryStlMesh(ColorMesh mesh, BinaryWriter writer, bool flipAxes)
{
if (null == mesh || null == writer)
{
return;
}
var vertices = mesh.GetVertices();
var normals = mesh.GetNormals();
var indices = mesh.GetTriangleIndexes();
// Check mesh arguments
if (0 == vertices.Count || 0 != vertices.Count % 3 || vertices.Count != indices.Count)
{
throw new ArgumentException("Invalid Mesh");
}
char[] header = new char[80];
writer.Write(header);
// Write number of triangles
int triangles = vertices.Count / 3;
writer.Write(triangles);
// Sequentially write the normal, 3 vertices of the triangle and attribute, for each triangle
for (int i = 0; i < triangles; i++)
{
// Write normal
var normal = normals[i * 3];
writer.Write(normal.X);
writer.Write(flipAxes ? -normal.Y : normal.Y);
writer.Write(flipAxes ? -normal.Z : normal.Z);
// Write vertices
for (int j = 0; j < 3; j++)
{
var vertex = vertices[(i * 3) + j];
writer.Write(vertex.X);
writer.Write(flipAxes ? -vertex.Y : vertex.Y);
writer.Write(flipAxes ? -vertex.Z : vertex.Z);
}
ushort attribute = 0;
writer.Write(attribute);
}
}
/// <summary>
/// Save mesh in ASCII WaveFront .OBJ file
/// </summary>
/// <param name="mesh">Calculated mesh object</param>
/// <param name="writer">The text writer</param>
/// <param name="flipAxes">Flag to determine whether the Y and Z values are flipped on save,
/// default should be true.</param>
public static void SaveAsciiObjMesh(ColorMesh mesh, TextWriter writer, bool flipAxes)
{
if (null == mesh || null == writer)
{
return;
}
var vertices = mesh.GetVertices();
var normals = mesh.GetNormals();
var indices = mesh.GetTriangleIndexes();
// Check mesh arguments
if (0 == vertices.Count || 0 != vertices.Count % 3 || vertices.Count != indices.Count)
{
throw new ArgumentException();
}
// Write the header lines
writer.WriteLine("#");
writer.WriteLine("# OBJ file created by Microsoft Kinect Fusion");
writer.WriteLine("#");
// Sequentially write the 3 vertices of the triangle, for each triangle
for (int i = 0; i < vertices.Count; i++)
{
var vertex = vertices[i];
string vertexString = "v " + vertex.X.ToString(CultureInfo.InvariantCulture) + " ";
if (flipAxes)
{
vertexString += (-vertex.Y).ToString(CultureInfo.InvariantCulture) + " " + (-vertex.Z).ToString(CultureInfo.InvariantCulture);
}
else
{
vertexString += vertex.Y.ToString(CultureInfo.InvariantCulture) + " " + vertex.Z.ToString(CultureInfo.InvariantCulture);
}
writer.WriteLine(vertexString);
}
// Sequentially write the 3 normals of the triangle, for each triangle
for (int i = 0; i < normals.Count; i++)
{
var normal = normals[i];
string normalString = "vn " + normal.X.ToString(CultureInfo.InvariantCulture) + " ";
if (flipAxes)
{
normalString += (-normal.Y).ToString(CultureInfo.InvariantCulture) + " " + (-normal.Z).ToString(CultureInfo.InvariantCulture);
}
else
{
normalString += normal.Y.ToString(CultureInfo.InvariantCulture) + " " + normal.Z.ToString(CultureInfo.InvariantCulture);
}
writer.WriteLine(normalString);
}
// Sequentially write the 3 vertex indices of the triangle face, for each triangle
// Note this is typically 1-indexed in an OBJ file when using absolute referencing!
for (int i = 0; i < vertices.Count / 3; i++)
{
string baseIndex0 = ((i * 3) + 1).ToString(CultureInfo.InvariantCulture);
string baseIndex1 = ((i * 3) + 2).ToString(CultureInfo.InvariantCulture);
string baseIndex2 = ((i * 3) + 3).ToString(CultureInfo.InvariantCulture);
string faceString = "f " + baseIndex0 + "//" + baseIndex0 + " " + baseIndex1 + "//" + baseIndex1 + " " + baseIndex2 + "//" + baseIndex2;
writer.WriteLine(faceString);
}
}
public void Update(IPluginIO pin, DX11RenderContext context)
{
if (!this.FTextureOutput[0].Contains(context))
{
this.FTextureOutput[0][context] = new DX11DynamicTexture2D(context, this.width, this.height, SlimDX.DXGI.Format.R8G8B8A8_UNorm);
this.FPCOut[0][context] = new DX11DynamicStructuredBuffer <float>(context, 640 * 480 * 6);
}
if (this.FInvalidate)
{
fixed(int *f = &this.pic[0])
{
IntPtr ptr = new IntPtr(f);
this.FTextureOutput[0][context].WriteData(ptr, this.width * this.height * 4);
}
/*fixed (float* f = &this.piccloud[0])
* {*
* IntPtr ptr = new IntPtr(f);*/
DX11DynamicStructuredBuffer <float> db = (DX11DynamicStructuredBuffer <float>) this.FPCOut[0][context];
db.WriteData(this.piccloud);
//}
this.FInvalidate = false;
}
if (this.FInVoxels[0])
{
if (this.FOutVoxels[0].Contains(context))
{
this.FOutVoxels[0].Dispose(context);
}
short[] data = new short[this.VoxelResolutionX * this.VoxelResolutionY * this.VoxelResolutionZ];
this.colorVolume.ExportVolumeBlock(0, 0, 0, this.VoxelResolutionX, this.VoxelResolutionY, this.VoxelResolutionZ, 1, data);
DX11DynamicStructuredBuffer <int> b = new DX11DynamicStructuredBuffer <int>(context, this.VoxelResolutionX * this.VoxelResolutionY * this.VoxelResolutionZ);
int[] idata = new int[this.VoxelResolutionX * this.VoxelResolutionY * this.VoxelResolutionZ];
for (int i = 0; i < this.VoxelResolutionX * this.VoxelResolutionY * this.VoxelResolutionZ; i++)
{
idata[i] = data[i];
}
b.WriteData(idata);
this.FOutVoxels[0][context] = b;
}
if (this.FInExport[0])
{
if (this.FGeomOut[0].Contains(context))
{
this.FGeomOut[0].Dispose(context);
}
if (this.colorVolume != null)
{
ColorMesh m = this.colorVolume.CalculateMesh(this.FInGeomVoxelStep[0]);
DX11IndexedGeometry geom = new DX11IndexedGeometry(context);
ReadOnlyCollection <int> inds = m.GetTriangleIndexes();
DataStream ds = new DataStream(inds.Count * 4, true, true);
ds.WriteRange <int>(inds.ToArray());
ds.Position = 0;
DX11IndexBuffer ibo = new DX11IndexBuffer(context, ds, false, true);
ReadOnlyCollection <Microsoft.Kinect.Toolkit.Fusion.Vector3> pos = m.GetVertices();
ReadOnlyCollection <Microsoft.Kinect.Toolkit.Fusion.Vector3> norm = m.GetNormals();
ReadOnlyCollection <int> col = m.GetColors();
DataStream dsv = new DataStream(Pos3Norm3Vertex.VertexSize * pos.Count, true, true);
SlimDX.Vector3 bmin = new SlimDX.Vector3(float.MaxValue, float.MaxValue, float.MaxValue);
SlimDX.Vector3 bmax = new SlimDX.Vector3(float.MinValue, float.MinValue, float.MinValue);
for (int i = 0; i < pos.Count; i++)
{
Microsoft.Kinect.Toolkit.Fusion.Vector3 p = pos[i];
Microsoft.Kinect.Toolkit.Fusion.Vector3 n = norm[i];
dsv.Write <Microsoft.Kinect.Toolkit.Fusion.Vector3>(p);
dsv.Write <Microsoft.Kinect.Toolkit.Fusion.Vector3>(n);
dsv.Write <int>(col[i]);
if (p.X < bmin.X)
{
bmin.X = p.X;
}
if (p.Y < bmin.Y)
{
bmin.Y = p.Y;
}
if (p.Z < bmin.Z)
{
bmin.Z = p.Z;
}
if (p.X > bmax.X)
{
bmax.X = p.X;
}
if (p.Y > bmax.Y)
{
bmax.Y = p.Y;
}
if (p.Z > bmax.Z)
{
bmax.Z = p.Z;
}
}
geom.IndexBuffer = ibo;
geom.HasBoundingBox = true;
geom.InputLayout = FusionColoredVertex.Layout;
geom.Topology = SlimDX.Direct3D11.PrimitiveTopology.TriangleList;
geom.VertexSize = FusionColoredVertex.VertexSize;
geom.VertexBuffer = BufferHelper.CreateVertexBuffer(context, dsv, false, true);
geom.VerticesCount = pos.Count;
geom.BoundingBox = new BoundingBox(bmin, bmax);
this.FGeomOut[0][context] = geom;
m.Dispose();
}
}
}
public void Write(ColorMesh mesh)
{
if (mesh == null)
{
throw new ArgumentNullException("mesh");
}
var vertices = mesh.GetVertices();
var normals = mesh.GetNormals();
var indices = mesh.GetTriangleIndexes();
// Check mesh arguments
if (vertices.Count == 0 || vertices.Count % 3 != 0 || vertices.Count != indices.Count)
{
throw new ArgumentException("Invalid mesh");
}
logger.Trace("Start writing mesh to {0}", this.fileName);
// Write the header lines
this.textWriter.WriteLine("#");
this.textWriter.WriteLine("# OBJ file created by Arcinect © Wu Yuntao 2015");
this.textWriter.WriteLine("#");
// Sequentially write the 3 vertices of the triangle, for each triangle
foreach (var vertex in vertices)
{
var vertexString = string.Format("v {0} {1} {2}",
vertex.X.ToString(CultureInfo.InvariantCulture),
vertex.Y.ToString(CultureInfo.InvariantCulture),
vertex.Z.ToString(CultureInfo.InvariantCulture));
this.textWriter.WriteLine(vertexString);
}
// Sequentially write the 3 normals of the triangle, for each triangle
foreach (var normal in normals)
{
var normalString = string.Format("vn {0} {1} {2}",
normal.X.ToString(CultureInfo.InvariantCulture),
normal.Y.ToString(CultureInfo.InvariantCulture),
normal.Z.ToString(CultureInfo.InvariantCulture));
this.textWriter.WriteLine(normalString);
}
// Sequentially write the 3 vertex indices of the triangle face, for each triangle
// Note this is typically 1-indexed in an OBJ file when using absolute referencing!
for (int i = 0; i < vertices.Count / 3; i++)
{
var index = vertexCount + i * 3;
var faceString = string.Format("f {0}//{0} {1}//{1} {2}//{2}",
(index + 1).ToString(CultureInfo.InvariantCulture),
(index + 2).ToString(CultureInfo.InvariantCulture),
(index + 3).ToString(CultureInfo.InvariantCulture));
this.textWriter.WriteLine(faceString);
}
this.vertexCount += vertices.Count;
logger.Trace("Finish writing mesh to {0}", this.fileName);
}