public override ProcessingBlock GetFilter()
{
var filter = new DecimationFilter();
filter.Options[Option.FilterMagnitude].Value = FilterMagnitude;
return(filter);
}
public void Init()
{
_pb = new DecimationFilter();
filterMag = _pb.Options[Option.FilterMagnitude];
streamFilter = _pb.Options[Option.StreamFilter];
formatFilter = _pb.Options[Option.StreamFormatFilter];
}
private void SetupProcessingBlock(Pipeline pipeline, Colorizer colorizer, DecimationFilter decimate, SpatialFilter spatial, TemporalFilter temp, HoleFillingFilter holeFill, ThresholdFilter threshold)
{
// Setup / start frame processing
processingBlock = new CustomProcessingBlock((f, src) =>
{
// We create a FrameReleaser object that would track
// all newly allocated .NET frames, and ensure deterministic finalization
// at the end of scope.
using (var releaser = new FramesReleaser())
{
using (var frames = pipeline.WaitForFrames().DisposeWith(releaser))
{
var processedFrames = frames
.ApplyFilter(decimate).DisposeWith(releaser)
.ApplyFilter(spatial).DisposeWith(releaser)
.ApplyFilter(temp).DisposeWith(releaser)
.ApplyFilter(holeFill).DisposeWith(releaser)
.ApplyFilter(colorizer).DisposeWith(releaser)
.ApplyFilter(threshold).DisposeWith(releaser);
// Send it to the next processing stage
src.FrameReady(processedFrames);
}
}
});
}
private void SetupFilters(out DecimationFilter decimate, out SpatialFilter spatial, out ThresholdFilter threshold)
{
// Colorizer is used to visualize depth data
colorizer = new Colorizer();
// Decimation filter reduces the amount of data (while preserving best samples)
decimate = new DecimationFilter();
decimate.Options[Option.FilterMagnitude].Value = 1.0F;//change scall
// Define spatial filter (edge-preserving)
spatial = new SpatialFilter();
spatial.Options[Option.HolesFill].Value = 1.0F; //change resolution on the edge of image
spatial.Options[Option.FilterMagnitude].Value = 5.0F;
spatial.Options[Option.FilterSmoothAlpha].Value = 1.0F;
spatial.Options[Option.FilterSmoothDelta].Value = 50.0F;
// Aline color to depth
//align_to = new Align(Stream.Depth);
//try to define depth max
threshold = new ThresholdFilter();
threshold.Options[Option.MinDistance].Value = 0;
threshold.Options[Option.MaxDistance].Value = 1;
}
private void SetupFilters(out DecimationFilter decimate, out SpatialFilter spatial, out TemporalFilter temp, out HoleFillingFilter holeFill, out ThresholdFilter threshold)
{
// Colorizer is used to visualize depth data
colorizer = new Colorizer();
// Decimation filter reduces the amount of data (while preserving best samples)
decimate = new DecimationFilter();
decimate.Options[Option.FilterMagnitude].Value = 1.0F;//change scall
// Define spatial filter (edge-preserving)
spatial = new SpatialFilter();
// Enable hole-filling
// Hole filling is an agressive heuristic and it gets the depth wrong many times
// However, this demo is not built to handle holes
// (the shortest-path will always prefer to "cut" through the holes since they have zero 3D distance)
spatial.Options[Option.HolesFill].Value = 1.0F; //change resolution on the edge of image
spatial.Options[Option.FilterMagnitude].Value = 5.0F;
spatial.Options[Option.FilterSmoothAlpha].Value = 1.0F;
spatial.Options[Option.FilterSmoothDelta].Value = 50.0F;
// Define temporal filter
temp = new TemporalFilter();
// Define holefill filter
holeFill = new HoleFillingFilter();
// Aline color to depth
//align_to = new Align(Stream.Depth);
//try to define depth max
threshold = new ThresholdFilter();
threshold.Options[Option.MinDistance].Value = 0;
threshold.Options[Option.MaxDistance].Value = 1;
}
protected override void OnStopStreaming()
{
if (aligner != null)
{
aligner.Dispose();
aligner = null;
}
if (decimationFilter != null)
{
decimationFilter.Dispose();
decimationFilter = null;
}
if (spatialFilter != null)
{
spatialFilter.Dispose();
spatialFilter = null;
}
if (temporalFilter != null)
{
temporalFilter.Dispose();
temporalFilter = null;
}
}
void OnDisable()
{
if (_pb != null)
{
_pb.Dispose();
_pb = null;
}
}
private void InitializePostProcessingFilter()
{
decimationFilter = new DecimationFilter();
spatialFilter = new SpatialFilter();
temporalFilter = new TemporalFilter();
// Set some reasonable defaults for now
spatialFilter.Options[Option.HolesFill].Value = 1;
spatialFilter.Options[Option.FilterMagnitude].Value = 3.0f;
spatialFilter.Options[Option.FilterSmoothAlpha].Value = 0.5f;
spatialFilter.Options[Option.FilterSmoothDelta].Value = 18.0f;
temporalFilter.Options[Option.HolesFill].Value = 2;
temporalFilter.Options[Option.FilterSmoothAlpha].Value = 0.6f;
temporalFilter.Options[Option.FilterSmoothDelta].Value = 30.0f;
}
/// <inheritdoc/>
public override ProcessingBlock Read(ref Utf8JsonReader reader, Type typeToConvert, JsonSerializerOptions options)
{
//Note: Maybe we should add checks for each read.
_ = reader.Read(); // Read start object
_ = reader.GetString(); // Read "Name"
_ = reader.Read(); // Read the ':'
var name = reader.GetString(); // Read the name
ProcessingBlock block;
switch (name)
{
case "Decimation Filter":
block = new DecimationFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterMagnitude"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterMagnitude].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
case "Spatial Filter":
block = new SpatialFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterMagnitude"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterMagnitude].Value = reader.GetSingle();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterSmoothAlpha"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterSmoothAlpha].Value = reader.GetSingle();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterSmoothDelta"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterSmoothDelta].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
case "Temporal Filter":
block = new TemporalFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterSmoothAlpha"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterSmoothAlpha].Value = reader.GetSingle();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterSmoothDelta"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterSmoothDelta].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
case "Hole Filling Filter":
block = new HoleFillingFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "HolesFill"
_ = reader.Read(); // Read the ':'
block.Options[Option.HolesFill].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
case "Threshold Filter":
block = new ThresholdFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "MinDistance"
_ = reader.Read(); // Read the ':'
block.Options[Option.MinDistance].Value = reader.GetSingle();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "MaxDistance"
_ = reader.Read(); // Read the ':'
block.Options[Option.MaxDistance].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
default:
throw new NotSupportedException($"The filter {name} is not supported in this converter");
}
return(block);
}
private void RunThread(CancellationToken token)
{
Intel.RealSense.PointCloud pc = new Intel.RealSense.PointCloud();
DecimationFilter dec_filter = new DecimationFilter();
SpatialFilter spat_filter = new SpatialFilter();
TemporalFilter temp_filter = new TemporalFilter();
dec_filter.Options[Option.FilterMagnitude].Value = DecimationMagnitude;
spat_filter.Options[Option.FilterMagnitude].Value = SpatialMagnitude;
spat_filter.Options[Option.FilterSmoothAlpha].Value = Math.Min(1.0f, (float)SpatialSmoothAlpha);
spat_filter.Options[Option.FilterSmoothDelta].Value = (float)SpatialSmoothDelta;
temp_filter.Options[Option.FilterSmoothAlpha].Value = Math.Min(1.0f, (float)TemporalSmoothAlpha);
temp_filter.Options[Option.FilterSmoothDelta].Value = (float)TemporalSmoothDelta;
List <ProcessingBlock> filters = new List <ProcessingBlock> {
dec_filter, spat_filter, temp_filter
};
Align align_to_depth = new Align(Stream.Depth);
var cfg = new Config();
cfg.EnableStream(Stream.Depth, 640, 480);
cfg.EnableStream(Stream.Color, 1280, 720, Format.Rgb8);
var pipeline = new Pipeline();
PipelineProfile pp = null;
try
{
pp = pipeline.Start(cfg);
}
catch (Exception e)
{
RhinoApp.WriteLine("RsToolkit: " + e.Message);
return;
}
while (!token.IsCancellationRequested)
{
try
{
using (var frames = pipeline.WaitForFrames())
{
var aligned = align_to_depth.Process <FrameSet>(frames).DisposeWith(frames);
var color = aligned.ColorFrame.DisposeWith(frames);
pc.MapTexture(color);
var filtered = aligned[Stream.Depth].DisposeWith(frames);
foreach (var filter in filters)
{
filtered = filter.Process(filtered).DisposeWith(frames);
}
Points points = pc.Process <Points>(filtered);
var vertices = new Point3f[points.Count];
var tex_coords = new Point2f[points.Count];
points.CopyVertices <Point3f>(vertices);
points.CopyTextureCoords <Point2f>(tex_coords);
Debug.Assert(vertices.Length == tex_coords.Length);
// ======== CULL INVALID POINTS ========
if (true)
{
var flags = new bool[vertices.Length];
int new_size = 0;
for (int i = 0; i < vertices.Length; ++i)
{
if (vertices[i].Z > 0.1)
{
flags[i] = true;
new_size++;
}
}
var new_vertices = new Point3f[new_size];
var new_tex_coords = new Point2f[new_size];
for (int i = 0, j = 0; i < vertices.Length; ++i)
{
if (flags[i])
{
new_vertices[j] = vertices[i];
new_tex_coords[j] = tex_coords[i];
++j;
}
}
vertices = new_vertices;
tex_coords = new_tex_coords;
}
// ======== TRANSFORM ========
if (m_xform.IsValid)
{
Parallel.For(0, vertices.Length - 1, (i) =>
{
vertices[i].Transform(m_xform);
});
}
// ======== CLIP TO BOX ========
if (m_clipping_box.IsValid &&
m_clipping_box.X.Length > 0 &&
m_clipping_box.Y.Length > 0 &&
m_clipping_box.Z.Length > 0)
{
Point3d box_centre = m_clipping_box.Plane.Origin;
double minx = m_clipping_box.X.Min + box_centre.X, maxx = m_clipping_box.X.Max + box_centre.X;
double miny = m_clipping_box.Y.Min + box_centre.Y, maxy = m_clipping_box.Y.Max + box_centre.Y;
double minz = m_clipping_box.Z.Min + box_centre.Z, maxz = m_clipping_box.Z.Max + box_centre.Z;
var flags = new bool[vertices.Length];
int new_size = 0;
for (int i = 0; i < vertices.Length; ++i)
{
if (
vertices[i].X <maxx && vertices[i].X> minx &&
vertices[i].Y <maxy && vertices[i].Y> miny &&
vertices[i].Z <maxz && vertices[i].Z> minz
)
{
flags[i] = true;
new_size++;
}
}
var new_vertices = new Point3f[new_size];
var new_tex_coords = new Point2f[new_size];
for (int i = 0, j = 0; i < vertices.Length; ++i)
{
if (flags[i])
{
new_vertices[j] = vertices[i];
new_tex_coords[j] = tex_coords[i];
++j;
}
}
vertices = new_vertices;
tex_coords = new_tex_coords;
}
Debug.Assert(vertices.Length == tex_coords.Length);
var point_colors = GetPointColors(color, tex_coords);
RPointCloud new_pointcloud = new RPointCloud();
new_pointcloud.AddRange(vertices.Select(x => new Point3d(x)), point_colors);
lock (m_pointcloud)
m_pointcloud = new_pointcloud;
}
}
catch (Exception e)
{
RhinoApp.WriteLine("RsToolkit: " + e.Message);
m_is_on = false;
break;
}
}
RhinoApp.WriteLine("RsToolkit: Task cancelled.");
if (pipeline != null)
{
pipeline.Stop();
}
}
private Vector4[] CreateFileData(out float minx, out float miny, out float minz, out float maxx, out float maxy, out float maxz)
{
//string file = "../../test/data/1.2-with-color.las";
string file = "../../test/data/hobu.las";
Vector4 red = new Vector4(1, 0, 0, 1);
Vector4 green = new Vector4(0, 1, 0, 1);
Vector4 blue = new Vector4(0, 0, 1, 1);
List <Vector4> points = new List <Vector4>();
istream istr = Utils.openFile(file);
m_reader = new LiblasReader(istr);
Stage stage = m_reader;
{
int np = (int)m_reader.getNumPoints();
if (np > 100000)
{
int step = np / 100000;
m_filter = new DecimationFilter(m_reader, step);
stage = m_filter;
}
}
Header header = stage.getHeader();
Bounds_double bounds = header.getBounds();
minx = (float)bounds.getMinimum(0);
miny = (float)bounds.getMinimum(1);
minz = (float)bounds.getMinimum(2);
maxx = (float)bounds.getMaximum(0);
maxy = (float)bounds.getMaximum(1);
maxz = (float)bounds.getMaximum(2);
// 1.2-with-color
//minx 635619.9f
//miny 848899.7f
//minz 406.59f
//maxx 638982.563
//maxy 853535.438
//maxz 586.38
ulong numPoints = stage.getNumPoints();
//numPoints = Math.Min(numPoints, 100000);
Schema schema = stage.getHeader().getSchema();
SchemaLayout layout = new SchemaLayout(schema);
PointData data = new PointData(layout, (uint)numPoints);
uint numRead = stage.read(data);
uint offsetX = (uint)schema.getDimensionIndex(Dimension.Field.Field_X);
uint offsetY = (uint)schema.getDimensionIndex(Dimension.Field.Field_Y);
uint offsetZ = (uint)schema.getDimensionIndex(Dimension.Field.Field_Z);
uint offsetR = (uint)schema.getDimensionIndex(Dimension.Field.Field_Red);
uint offsetG = (uint)schema.getDimensionIndex(Dimension.Field.Field_Green);
uint offsetBG = (uint)schema.getDimensionIndex(Dimension.Field.Field_Blue);
for (uint index = 0; index < numRead; index++)
{
Int32 xraw = data.getField_Int32(index, offsetX);
Int32 yraw = data.getField_Int32(index, offsetY);
Int32 zraw = data.getField_Int32(index, offsetZ);
float x = (float)schema.getDimension(offsetX).getNumericValue_Int32(xraw);
float y = (float)schema.getDimension(offsetY).getNumericValue_Int32(yraw);
float z = (float)schema.getDimension(offsetZ).getNumericValue_Int32(zraw);
if (index == 0)
{
minx = maxx = x;
miny = maxy = y;
minz = maxz = z;
}
else
{
minx = Math.Min(x, minx);
miny = Math.Min(y, miny);
minz = Math.Min(z, minz);
maxx = Math.Max(x, maxx);
maxy = Math.Max(y, maxy);
maxz = Math.Max(z, maxz);
}
UInt16 r = data.getField_UInt16(index, offsetX);
UInt16 g = data.getField_UInt16(index, offsetY);
UInt16 b = data.getField_UInt16(index, offsetZ);
points.Add(new Vector4(x, y, z, 1));
float rf = (float)r / 65535.0f;
float gf = (float)g / 65535.0f;
float bf = (float)b / 65535.0f;
points.Add(new Vector4(rf, gf, bf, 1));
//points.Add(blue);
}
Utils.closeFile(istr);
return(points.ToArray());
}
private CustomProcessingBlock SetupProcessingBlock(Pipeline pipeline, Colorizer colorizer, DecimationFilter decimate, SpatialFilter spatial, TemporalFilter temp, HoleFillingFilter holeFill, Align align_to)
{
CustomProcessingBlock processingBlock = null;
if (showType == imgType.color)
{
processingBlock = new CustomProcessingBlock((f, src) =>
{
using (var releaser = new FramesReleaser())
{
using (var frames = pipeline.WaitForFrames().DisposeWith(releaser))
{
var processedFrames = frames
.ApplyFilter(align_to).DisposeWith(releaser);
// Send it to the next processing stage
src.FramesReady(processedFrames);
}
}
});
}
else if (showType == imgType.mix)
{
// Setup / start frame processing
processingBlock = new CustomProcessingBlock((f, src) =>
{
using (var releaser = new FramesReleaser())
{
using (var frames = pipeline.WaitForFrames().DisposeWith(releaser))
{
var processedFrames = frames
.ApplyFilter(align_to).DisposeWith(releaser)
.ApplyFilter(decimate).DisposeWith(releaser)
.ApplyFilter(spatial).DisposeWith(releaser)
.ApplyFilter(temp).DisposeWith(releaser)
.ApplyFilter(holeFill).DisposeWith(releaser)
.ApplyFilter(colorizer).DisposeWith(releaser);
// Send it to the next processing stage
src.FramesReady(processedFrames);
}
}
});
}
return(processingBlock);
}
void Init()
{
try
{
#region FILTERS
spatialFilter = new SpatialFilter();
spatialFilter.Options[Option.FilterMagnitude].Value = 5.0F;
spatialFilter.Options[Option.FilterSmoothAlpha].Value = 0.25F;
spatialFilter.Options[Option.FilterSmoothDelta].Value = 50.0F;
decimationFilter = new DecimationFilter();
decimationFilter.Options[Option.FilterMagnitude].Value = 2.0F;
holeFilter = new HoleFillingFilter();
thresholdFilter = new ThresholdFilter();
//thresholdFilter.Options[Option.MinDistance].Value = 0.73F;
//thresholdFilter.Options[Option.MaxDistance].Value = 0.81F;
#endregion
align_to = new Align(Intel.RealSense.Stream.Depth);
colorizer = new Colorizer();
pipeline = new Pipeline();
//CONFIG SETTINGS
var cfg = new Config();
cfg.EnableStream(Intel.RealSense.Stream.Depth, resolutionW, resolutionH, Format.Z16, FPS); //depth resolution manuel change
cfg.EnableStream(Intel.RealSense.Stream.Color, 640, 480, Format.Rgb8, 30);
pipelineProfile = pipeline.Start(cfg); //stream starting with user config
var advancedDevice = AdvancedDevice.FromDevice(pipelineProfile.Device); //connected device
//read device's configuration settings from json file
advancedDevice.JsonConfiguration = File.ReadAllText(@"CustomConfig.json");
selectedDevice = pipelineProfile.Device;
#region Field Of View Info
float[] dfov, cfov, irfov;
var depth_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Depth);
Intrinsics depthIntr = depth_stream.GetIntrinsics();
dfov = depthIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
var color_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Color);
Intrinsics colorIntr = color_stream.GetIntrinsics();
cfov = colorIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
var ir_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Infrared);
Intrinsics irIntr = ir_stream.GetIntrinsics();
irfov = irIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
lblDepthFov.Text = "Depth FOV : " + "H = " + Convert.ToInt32(dfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(dfov[1]).ToString() + "°";
lblColorFov.Text = "RGB FOV : " + "H = " + Convert.ToInt32(cfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(cfov[1]).ToString() + "°";
lblInfraredFov.Text = "IR FOV : " + "H = " + Convert.ToInt32(irfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(irfov[1]).ToString() + "°";
#endregion
//get primary screen resolutions
screenWidth = Convert.ToInt32(System.Windows.SystemParameters.PrimaryScreenWidth.ToString());
screenHeight = Convert.ToInt32(System.Windows.SystemParameters.PrimaryScreenHeight.ToString());
//camera started working. transfer image to interface
SetupWindow(pipelineProfile, out updateDepth, out updateColor, out updateIR1, out updateIR2);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
private Vector4[] CreateFileData(out float minx, out float miny, out float minz, out float maxx, out float maxy, out float maxz)
{
//string file = "../../test/data/1.2-with-color.las";
string file = "../../test/data/hobu.las";
Vector4 red = new Vector4(1, 0, 0, 1);
Vector4 green = new Vector4(0, 1, 0, 1);
Vector4 blue = new Vector4(0, 0, 1, 1);
List<Vector4> points = new List<Vector4>();
istream istr = Utils.openFile(file);
m_reader = new LiblasReader(istr);
Stage stage = m_reader;
{
int np = (int)m_reader.getNumPoints();
if (np > 100000)
{
int step = np / 100000;
m_filter = new DecimationFilter(m_reader, step);
stage = m_filter;
}
}
Header header = stage.getHeader();
Bounds_double bounds = header.getBounds();
minx = (float)bounds.getMinimum(0);
miny = (float)bounds.getMinimum(1);
minz = (float)bounds.getMinimum(2);
maxx = (float)bounds.getMaximum(0);
maxy = (float)bounds.getMaximum(1);
maxz = (float)bounds.getMaximum(2);
// 1.2-with-color
//minx 635619.9f
//miny 848899.7f
//minz 406.59f
//maxx 638982.563
//maxy 853535.438
//maxz 586.38
ulong numPoints = stage.getNumPoints();
//numPoints = Math.Min(numPoints, 100000);
Schema schema = stage.getHeader().getSchema();
SchemaLayout layout = new SchemaLayout(schema);
PointData data = new PointData(layout,(uint)numPoints);
uint numRead = stage.read(data);
uint offsetX = (uint)schema.getDimensionIndex(Dimension.Field.Field_X);
uint offsetY = (uint)schema.getDimensionIndex(Dimension.Field.Field_Y);
uint offsetZ = (uint)schema.getDimensionIndex(Dimension.Field.Field_Z);
uint offsetR = (uint)schema.getDimensionIndex(Dimension.Field.Field_Red);
uint offsetG = (uint)schema.getDimensionIndex(Dimension.Field.Field_Green);
uint offsetBG = (uint)schema.getDimensionIndex(Dimension.Field.Field_Blue);
for (uint index=0; index<numRead; index++)
{
Int32 xraw = data.getField_Int32(index, offsetX);
Int32 yraw = data.getField_Int32(index, offsetY);
Int32 zraw = data.getField_Int32(index, offsetZ);
float x = (float)schema.getDimension(offsetX).getNumericValue_Int32(xraw);
float y = (float)schema.getDimension(offsetY).getNumericValue_Int32(yraw);
float z = (float)schema.getDimension(offsetZ).getNumericValue_Int32(zraw);
if (index == 0)
{
minx = maxx = x;
miny = maxy = y;
minz = maxz = z;
}
else
{
minx = Math.Min(x, minx);
miny = Math.Min(y, miny);
minz = Math.Min(z, minz);
maxx = Math.Max(x, maxx);
maxy = Math.Max(y, maxy);
maxz = Math.Max(z, maxz);
}
UInt16 r = data.getField_UInt16(index, offsetX);
UInt16 g = data.getField_UInt16(index, offsetY);
UInt16 b = data.getField_UInt16(index, offsetZ);
points.Add(new Vector4(x, y, z, 1));
float rf = (float)r / 65535.0f;
float gf = (float)g / 65535.0f;
float bf = (float)b / 65535.0f;
points.Add(new Vector4(rf, gf, bf, 1));
//points.Add(blue);
}
Utils.closeFile(istr);
return points.ToArray();
}
