private void button_Click(object sender, RoutedEventArgs e)
{
DirectionalLight dirLight = new DirectionalLight();
dirLight.Color = Colors.White;
dirLight.Direction = new Vector3D(1, 1, 1);
PerspectiveCamera camera1 = new PerspectiveCamera();
camera1.FarPlaneDistance = 10000;
camera1.NearPlaneDistance = 100;
camera1.FieldOfView = 10;
camera1.Position = new Point3D(160, 120, -1000);
camera1.LookDirection = new Vector3D(0, 0, 1);
camera1.UpDirection = new Vector3D(0, -1, 0);
Model3DGroup group = new Model3DGroup();
int i = 0;
for (int y = 0; y < 480; y += s)
{
for (int x = 0; x < 640; x += s)
{
points[i] = triangle(x, y, s);
points[i].Transform = new TranslateTransform3D(0, 0, 0);
group.Children.Add(points[i]);
i++;
}
}
group.Children.Add(dirLight);
ModelVisual3D modelsVisual = new ModelVisual3D();
modelsVisual.Content = group;
Viewport3D myViewport = new Viewport3D();
myViewport.IsHitTestVisible = false;
myViewport.Camera = camera1;
myViewport.Children.Add(modelsVisual);
canvas1.Children.Add(myViewport);
myViewport.Height = canvas1.Height;
myViewport.Width = canvas1.Width;
Canvas.SetTop(myViewport, 0);
Canvas.SetLeft(myViewport, 0);
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (this.sensor != null)
{
this.sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
this.sensor.DepthFrameReady += this.SensorDepthFrameReady;
try
{
this.sensor.Start();
}
catch (IOException)
{
this.sensor = null;
}
}
int minDepth = this.minDepth;
int maxDepth = this.maxDepth;
KinectDepthData depthData = new KinectDepthData();
List<Vector3D> filteredPointCloud = new List<Vector3D>();
List<Vector> pixelLocs = new List<Vector>();
List<Vector3D> pointCloudNormals = new List<Vector3D>();
List<Vector3D> outlierCloud = new List<Vector3D>();
PlaneFilter filter = new PlaneFilter();
//pointCloudNormals = filter.GenerateSampledPointCloud(depthData, this.pixelData, pointCloudNormals, 200000);
Point3DCollection collection = new Point3DCollection();
foreach (Vector3D v in pointCloudNormals)
{
collection.Add(new Point3D(v.X, v.Y, v.Z));
}
//filter.GenerateFilteredPointCloud(pixelData, filteredPointCloud, pixelLocs, pointCloudNormals, outlierCloud, depthData);
}
private void button_Click(object sender, RoutedEventArgs e)
{
DirectionalLight dirLight = new DirectionalLight();
dirLight.Color = Colors.White;
dirLight.Direction = new Vector3D(1, 1, 1);
PerspectiveCamera camera1 = new PerspectiveCamera();
camera1.FarPlaneDistance = 10000;
camera1.NearPlaneDistance = 100;
camera1.FieldOfView = 10;
camera1.Position = new Point3D(160, 120, -1000);
camera1.LookDirection = new Vector3D(0, 0, 1);
camera1.UpDirection = new Vector3D(0, -1, 0);
Model3DGroup group = new Model3DGroup();
int i = 0;
for (int y = 0; y < 480; y += s)
{
for (int x = 0; x < 640; x += s)
{
points[i] = triangle(x, y, s);
points[i].Transform = new TranslateTransform3D(0, 0, 0);
group.Children.Add(points[i]);
i++;
}
}
group.Children.Add(dirLight);
ModelVisual3D modelsVisual = new ModelVisual3D();
modelsVisual.Content = group;
Viewport3D myViewport = new Viewport3D();
myViewport.IsHitTestVisible = false;
myViewport.Camera = camera1;
myViewport.Children.Add(modelsVisual);
canvas1.Children.Add(myViewport);
myViewport.Height = canvas1.Height;
myViewport.Width = canvas1.Width;
Canvas.SetTop(myViewport, 0);
Canvas.SetLeft(myViewport, 0);
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (this.sensor != null)
{
this.sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
this.sensor.DepthFrameReady += this.SensorDepthFrameReady;
try
{
this.sensor.Start();
}
catch (IOException)
{
this.sensor = null;
}
}
int minDepth = this.minDepth;
int maxDepth = this.maxDepth;
KinectDepthData depthData = new KinectDepthData();
List <Vector3D> filteredPointCloud = new List <Vector3D>();
List <Vector> pixelLocs = new List <Vector>();
List <Vector3D> pointCloudNormals = new List <Vector3D>();
List <Vector3D> outlierCloud = new List <Vector3D>();
PlaneFilter filter = new PlaneFilter();
//pointCloudNormals = filter.GenerateSampledPointCloud(depthData, this.pixelData, pointCloudNormals, 200000);
Point3DCollection collection = new Point3DCollection();
foreach (Vector3D v in pointCloudNormals)
{
collection.Add(new Point3D(v.X, v.Y, v.Z));
}
//filter.GenerateFilteredPointCloud(pixelData, filteredPointCloud, pixelLocs, pointCloudNormals, outlierCloud, depthData);
}