public void Init(KinectFrame frame, KinectCameraInfo cameraInfo)
{
_initialized = true;
// store variables
_xRes = cameraInfo.XRes;
_yRes = cameraInfo.YRes;
_focalLengthImage = (float)cameraInfo.FocalLengthImage;
_focalLengthDepth = (float)cameraInfo.FocalLengthDetph;
_depthToRgb = cameraInfo.DepthToRgb;
CreateVertexBuffer();
CreateIndexBuffer();
CreateTextures();
_light = new DxLight
{
Type = DxLightType.None,
Position = new Vector3(0, 0, 0f),
Direction = new Vector3(0, 0, 1),
Ambient = new Vector4(0.4f, 0.4f, 0.4f, 1.0f),
Diffuse = new Vector4(1.0f, 1.0f, 1.0f, 1.0f),
Specular = new Vector4(1.0f, 1.0f, 1.0f, 1.0f),
Attenuation = new Vector3(0.0f, 0.005f, 0.0f),
SpotPower = 0.001f,
Range = 1000f
};
}
public void Update(KinectFrame frame, KinectCameraInfo cameraInfo)
{
if (!_initialized)
{
Init(frame, cameraInfo);
}
var imageRect = _imageTexture.Map(0, MapMode.WriteDiscard, MapFlags.None);
var imageMap = frame.ImageMap;
var imagePtr = 0;
// update texture
// need to convert from RGB24 to RGBA32
for (int v = 0; v < _yRes; v++)
{
for (int u = 0; u < _xRes; u++)
{
byte r = imageMap[imagePtr++];
byte g = imageMap[imagePtr++];
byte b = imageMap[imagePtr++];
byte a = 255;
int argb = (a << 24) + (b << 16) + (g << 8) + r;
imageRect.Data.Write(argb);
}
}
_imageTexture.Unmap(0);
// update depth map
DataStream depthStream = _depthMapBuffer.Map(MapMode.WriteDiscard, MapFlags.None);
depthStream.WriteRange(frame.DepthMap);
_depthMapBuffer.Unmap();
}
public void Init(KinectFrame frame, KinectCameraInfo cameraInfo)
{
_initialized = true;
// store variables
_xRes = cameraInfo.XRes;
_yRes = cameraInfo.YRes;
_focalLengthImage = (float)cameraInfo.FocalLengthImage;
_focalLengthDepth = (float)cameraInfo.FocalLengthDetph;
_depthToRgb = cameraInfo.DepthToRgb;
CreateVertexBuffer();
CreateTextures();
}
private void UpdateCameraInfo()
{
if (_cameraInfo == null)
{
_cameraInfo = new KinectCameraInfo();
}
_cameraInfo.XRes = (int)_imageMeta.XRes;
_cameraInfo.YRes = (int)_imageMeta.YRes;
_cameraInfo.ZRes = (int)_depthMeta.ZRes;
// get the focal length in mm (ZPS = zero plane distance)/ focal length
// _imageCameraInfo.ZeroPlaneDistance = _imageNode.GetIntProperty("ZPD");
_cameraInfo.ZeroPlaneDistance = _depthNode.GetIntProperty("ZPD");
// get the pixel size in mm ("ZPPS" = pixel size at zero plane)
// _imageCameraInfo.ZeroPlanePixelSize = _imageNode.GetRealProperty("ZPPS") * 2.0;
_cameraInfo.ZeroPlanePixelSize = _depthNode.GetRealProperty("ZPPS") * 2.0;
_cameraInfo.FocalLengthImage = 525f;
_cameraInfo.FocalLengthDetph = _cameraInfo.ZeroPlaneDistance / _cameraInfo.ZeroPlanePixelSize;
// get base line (distance from IR camera to laser projector in cm)
_cameraInfo.Baseline = _depthNode.GetRealProperty("LDDIS") * 10;
_cameraInfo.ShadowValue = _depthNode.GetIntProperty("ShadowValue");
_cameraInfo.NoSampleValue = _depthNode.GetIntProperty("NoSampleValue");
// best guess
_cameraInfo.DepthToRgb = Matrix.Translation(35f, 15f, 0f);
/*
* //from ROS calibraition
* _cameraInfo.DepthToRgb = new Matrix
* {
* M11 = 1f, M21 = 0.006497f, M31 = -0.000801f, M41 = -25.165f,
* M12 = -0.006498f, M22 = 1f, M32 = -0.001054f, M42 = 0.047f,
* M13 = 0.000794f, M23 = 0.001059f, M33 = 1f, M43 = -4.077f,
* M14 = 0f, M24 = 0f, M34 = 0f, M44 = 1f
* };
*/
}
private void UpdateCameraInfo()
{
if (_cameraInfo == null)
_cameraInfo = new KinectCameraInfo();
_cameraInfo.XRes = (int) _imageMeta.XRes;
_cameraInfo.YRes = (int) _imageMeta.YRes;
_cameraInfo.ZRes = (int) _depthMeta.ZRes;
// get the focal length in mm (ZPS = zero plane distance)/ focal length
// _imageCameraInfo.ZeroPlaneDistance = _imageNode.GetIntProperty("ZPD");
_cameraInfo.ZeroPlaneDistance = _depthNode.GetIntProperty("ZPD");
// get the pixel size in mm ("ZPPS" = pixel size at zero plane)
// _imageCameraInfo.ZeroPlanePixelSize = _imageNode.GetRealProperty("ZPPS") * 2.0;
_cameraInfo.ZeroPlanePixelSize = _depthNode.GetRealProperty("ZPPS")*2.0;
_cameraInfo.FocalLengthImage = 525f;
_cameraInfo.FocalLengthDetph = _cameraInfo.ZeroPlaneDistance/_cameraInfo.ZeroPlanePixelSize;
// get base line (distance from IR camera to laser projector in cm)
_cameraInfo.Baseline = _depthNode.GetRealProperty("LDDIS")*10;
_cameraInfo.ShadowValue = _depthNode.GetIntProperty("ShadowValue");
_cameraInfo.NoSampleValue = _depthNode.GetIntProperty("NoSampleValue");
// best guess
_cameraInfo.DepthToRgb = Matrix.Translation(35f, 15f, 0f);
/*
//from ROS calibraition
_cameraInfo.DepthToRgb = new Matrix
{
M11 = 1f, M21 = 0.006497f, M31 = -0.000801f, M41 = -25.165f,
M12 = -0.006498f, M22 = 1f, M32 = -0.001054f, M42 = 0.047f,
M13 = 0.000794f, M23 = 0.001059f, M33 = 1f, M43 = -4.077f,
M14 = 0f, M24 = 0f, M34 = 0f, M44 = 1f
};
*/
}
public void Update(KinectFrame frame, KinectCameraInfo cameraInfo)
{
if (!_initialized)
Init(frame, cameraInfo);
// update texture
if (_imageTexture != null)
{
var imageRect = _imageTexture.Map(0, MapMode.WriteDiscard, MapFlags.None);
var imageMap = frame.ImageMap;
var imagePtr = 0;
// need to convert from RGB24 to RGBA32
for (int v = 0; v < _yRes; v++)
{
for (int u = 0; u < _xRes; u++)
{
byte r = imageMap[imagePtr++];
byte g = imageMap[imagePtr++];
byte b = imageMap[imagePtr++];
byte a = 255;
int argb = (a << 24) + (b << 16) + (g << 8) + r;
imageRect.Data.Write(argb);
}
}
_imageTexture.Unmap(0);
}
// update depth map
if (_depthMapBuffer != null)
{
DataStream depthStream = _depthMapBuffer.Map(MapMode.WriteDiscard, MapFlags.None);
depthStream.WriteRange(frame.DepthMap);
_depthMapBuffer.Unmap();
}
}
public void Init(KinectFrame frame, KinectCameraInfo cameraInfo)
{
_initialized = true;
// store variables
_xRes = cameraInfo.XRes;
_yRes = cameraInfo.YRes;
_focalLengthImage = (float)cameraInfo.FocalLengthImage;
_focalLengthDepth = (float)cameraInfo.FocalLengthDetph;
_depthToRgb = cameraInfo.DepthToRgb;
CreateVertexBuffer();
CreateIndexBuffer();
CreateTextures();
_light = new DxLight
{
Type = DxLightType.None,
Position = new Vector3(0, 0, 0f),
Direction = new Vector3(0, 0, 1),
Ambient = new Vector4(0.4f, 0.4f, 0.4f, 1.0f),
Diffuse = new Vector4(1.0f, 1.0f, 1.0f, 1.0f),
Specular = new Vector4(1.0f, 1.0f, 1.0f, 1.0f),
Attenuation = new Vector3(0.0f, 0.005f, 0.0f),
SpotPower = 0.001f,
Range = 1000f
};
}
public void Init(KinectFrame frame, KinectCameraInfo cameraInfo)
{
_initialized = true;
// store variables
_xRes = cameraInfo.XRes;
_yRes = cameraInfo.YRes;
_focalLengthImage = (float)cameraInfo.FocalLengthImage;
_focalLengthDepth = (float)cameraInfo.FocalLengthDetph;
_depthToRgb = cameraInfo.DepthToRgb;
CreateVertexBuffer();
CreateTextures();
}
