private static CalibrationRecord Calibrate(KinectSensor sensor)
{
int width = sensor.DepthFrameSource.FrameDescription.Width;
int height = sensor.DepthFrameSource.FrameDescription.Height;
ushort minDepth = sensor.DepthFrameSource.DepthMinReliableDistance;
ushort maxDepth = sensor.DepthFrameSource.DepthMaxReliableDistance;
var result = new CalibrationRecord();
int nextDepth = minDepth;
int depthIncrement = 777;
if (depthIncrement >= maxDepth - minDepth || (maxDepth - minDepth) % depthIncrement == 0)
{
throw new ArgumentException("Pick an increment which is less than, and not divisible by, maxDepth - minDepth");
}
// 0 to 512
for (int depthX = 0; depthX < width; depthX += 3)
{
// 0 to 424
for (int depthY = 0; depthY < height; depthY += 3)
{
// 500 to 4500
DepthSpacePoint depthPoint = new DepthSpacePoint
{
X = depthX,
Y = depthY
};
ColorSpacePoint colorPoint = sensor.CoordinateMapper.MapDepthPointToColorSpace(depthPoint, (ushort)nextDepth);
CameraSpacePoint bodyPoint = sensor.CoordinateMapper.MapDepthPointToCameraSpace(depthPoint, (ushort)nextDepth);
CalibrationPoint cpoint = new CalibrationPoint()
{
DepthPoint = depthPoint,
Depth = (ushort)nextDepth,
CameraPoint = bodyPoint,
ColorPoint = colorPoint
};
result.AddCalibrationPoint(cpoint);
nextDepth += depthIncrement;
if (nextDepth >= maxDepth)
{
nextDepth -= maxDepth - minDepth;
}
}
}
return(result);
}
public void AddCalibrationPoint(CalibrationPoint cpoint)
{
_depthToColorAndCamera.Add(cpoint);
}
public void AddCalibrationPoint(CalibrationPoint cpoint)
{
_depthToColorAndCamera.Add(cpoint);
}
private static CalibrationRecord Calibrate(KinectSensor sensor)
{
int width = sensor.DepthFrameSource.FrameDescription.Width;
int height = sensor.DepthFrameSource.FrameDescription.Height;
ushort minDepth = sensor.DepthFrameSource.DepthMinReliableDistance;
ushort maxDepth = sensor.DepthFrameSource.DepthMaxReliableDistance;
var result = new CalibrationRecord();
int nextDepth = minDepth;
int depthIncrement = 777;
if (depthIncrement >= maxDepth - minDepth || (maxDepth - minDepth) % depthIncrement == 0)
throw new ArgumentException("Pick an increment which is less than, and not divisible by, maxDepth - minDepth");
// 0 to 512
for (int depthX = 0; depthX < width; depthX += 3)
{
// 0 to 424
for (int depthY = 0; depthY < height; depthY += 3)
{
// 500 to 4500
DepthSpacePoint depthPoint = new DepthSpacePoint
{
X = depthX,
Y = depthY
};
ColorSpacePoint colorPoint = sensor.CoordinateMapper.MapDepthPointToColorSpace(depthPoint, (ushort)nextDepth);
CameraSpacePoint bodyPoint = sensor.CoordinateMapper.MapDepthPointToCameraSpace(depthPoint, (ushort)nextDepth);
CalibrationPoint cpoint = new CalibrationPoint()
{
DepthPoint = depthPoint,
Depth = (ushort)nextDepth,
CameraPoint = bodyPoint,
ColorPoint = colorPoint
};
result.AddCalibrationPoint(cpoint);
nextDepth += depthIncrement;
if (nextDepth >= maxDepth) nextDepth -= maxDepth - minDepth;
}
}
return result;
}