public static void WriteTriangleList(float[] vertexes, float[] normals, float[] colors, string path)
{
int vertexCount = vertexes.Length / 4;
MeshReaderWriter writer = new MeshReaderWriter(vertexCount, vertexCount / 3, path);
for (int i = 0; i < vertexes.Length; i += 4)
{
int v = i / 4;
writer.AddPoint(new float4(vertexes[i], vertexes[i + 1], vertexes[i + 2], 1), new float4(normals[3 * v], normals[3 * v + 1], normals[3 * v + 2], 1), new float4(colors[i], colors[i + 1], colors[i + 2], 1));
}
for (int i = 0; i < vertexCount; i += 3)
{
writer.AddFace(i, i + 1, i + 2);
}
writer.Close();
}
public void Process(BaseCameraApplication app)
{
CameraDataFilter filter = app.GetImageFilter();
kernelCopyImage.Execute(new CLCalc.Program.MemoryObject[] {
app.GetPrimaryDevice().GetDepthImage().GetMemoryObject(),
filter.GetTextureImage(),
filter.GetColorImage(),
pointBuffer,
colorBuffer}, new int[] { filter.GetDepthImage().Width, filter.GetDepthImage().Height });
pointBuffer.ReadFromDeviceTo(points);
int vertexCount = points.Length / 4;
/*
for (int i = 0; i < points.Length; i += 4)
{
float4 pt = new float4(points[i], points[i + 1], points[i + 2], points[i + 3]);
if (pt.z>200.0&&pt.z < 2000.0f&&pt.w>100.0f)
{
vertexCount++;
}
}
* */
colorBuffer.ReadFromDeviceTo(colors);
string path = outputDir + "pointcloud" + counter.ToString("0000") + ".xyz";
MeshReaderWriter writer = new MeshReaderWriter(vertexCount, 0, path);
float minDepth = app.GetPrimaryDevice().GetMinDepth();
float maxDepth = app.GetPrimaryDevice().GetMaxDepth();
for (int i = 0; i < points.Length; i += 4)
{
float4 pt = new float4(points[i], points[i + 1], points[i + 2], points[i + 3]);
float4 rgb = new float4(colors[i], colors[i + 1], colors[i + 2], colors[i + 3]);
if (pt.z > minDepth && pt.z < maxDepth && pt.w > 100.0f)
{
writer.AddPoint(pt, rgb);
}
else
{
writer.AddPoint(new float4(), new float4());
}
}
writer.Close();
counter++;
}
