public IDictionary <TrackingMarker, Point3D> Convert2DTrackingPointsTo3DTrackingPoints(
IDictionary <TrackingMarker, Point2D> trackingPoints2D,
DepthFormat dFormat, ICollection <short> depthShorts, ColourFormat cFormat)
{
var kdFormat = FormatConvertor.ConvertToKinect(dFormat);
var kcFormat = FormatConvertor.ConvertToKinect(cFormat);
var dShorts = depthShorts.ToArray();
// HACK!!!!!!!!!!!!!!!!
return(_ConvertColourPointsToWorldPoints(trackingPoints2D, kdFormat, dShorts, kcFormat));
}
public ICollection <Point3D> GeneratePointCloud(DepthFormat dFormat, ICollection <short> depthShorts,
ColourFormat cFormat, ICollection <byte> colourPixels)
{
var kdFormat = FormatConvertor.ConvertToKinect(dFormat);
var kcFormat = FormatConvertor.ConvertToKinect(cFormat);
var dWidth = FormatConvertor.PixelWidth(kdFormat);
var cWidth = FormatConvertor.PixelWidth(kcFormat);
var points = new List <Point3D>();
var d = depthShorts.ToArray();
var c = colourPixels.ToArray();
for (int i = 0; i < d.Length; i++)
{
var depth = (short)(d[i] >> 3);
if (depth < 0)
{
continue;
}
var dip = new DepthImagePoint()
{
Depth = depth,
X = i % dWidth,
Y = i / dWidth
};
var skel = this.mapper.MapDepthPointToSkeletonPoint(kdFormat, dip);
var cip = this.mapper.MapDepthPointToColorPoint(kdFormat, dip, kcFormat);
var cIndex = 4 * (cip.X + cip.Y * cWidth);
if (cIndex > c.Length || cIndex < 0)
{
continue;
}
var r = c[cIndex + 2];
var g = c[cIndex + 1];
var b = c[cIndex];
points.Add(new Point3D(skel.X, skel.Y, skel.Z, r, g, b));
}
return(points);
}
public SensorManager(DepthFormat dFormat, ColourFormat cFormat)
{
this.desiredDepthFormat = FormatConvertor.ConvertToKinect(dFormat);
this.desiredColourFormat = FormatConvertor.ConvertToKinect(cFormat);
this.frameReadyEventsRegistered = false;
}
