public void Render(PointCloud pcl, Matrix worldToClip, Vector3 eye, Vector3 forward, Vector4[] outRGBA)
{
float MAX_DEPTH = 10.0f;
for (int i = 0; i < depthBuffer.Length; i++)
{
depthBuffer[i] = MAX_DEPTH;
outRGBA[i] = new Vector4();
}
foreach (Vector4 p in pcl.Points())
{
Vector3 worldPos = new Vector3(p.X, p.Y, p.Z);
Vector4 clipPos = Vector4.Transform(new Vector4(worldPos.X, worldPos.Y, worldPos.Z, 1.0f), worldToClip);
float depth = clipPos.W;
// TODO: Generalize
int screenX = (int)(clipPos.X / clipPos.W * 320.0f + 320.0f);
int screenY = 480 - (int)(clipPos.Y / clipPos.W * 240.0f + 240.0f);
// TODO: Generalize
if (screenX < 0 || screenX >= 640 ||
screenY < 0 || screenY >= 480)
continue;
// TODO: Generalize
int idx = 640 * screenY + screenX;
if (depth < depthBuffer[idx])
depthBuffer[idx] = depth;
}
for (int i = 0; i < depthBuffer.Length; i++)
{
if (depthBuffer[i] < MAX_DEPTH)
{
float depth_norm = (depthBuffer[i] - 0.4f) / 3.6f;
float r = MathHelper.Min(1.0f, (MathHelper.Max(0.5f, depth_norm) - 0.5f) * 6.0f);
float g = MathHelper.Min(1.0f, depth_norm * 3.0f) - MathHelper.Min(1.0f, MathHelper.Max(0.0f, depth_norm - 0.666f) * 3.0f);
float b = MathHelper.Max(0.0f, 1.0f - MathHelper.Max(0.0f, depth_norm - 0.333f) * 6.0f);
outRGBA[i] = new Vector4(r, g, b, 1.0f);
}
}
}
public Game1()
{
graphics = new GraphicsDeviceManager(this);
graphics.PreferredBackBufferWidth = 640;
graphics.PreferredBackBufferHeight = 480;
Content.RootDirectory = "Content";
cam = new KinectCamera();
recorder = new Recorder();
iFrame = 0;
// TODO: Generalize
rgba = new Vector4[640 * 480];
tmpPCL = new Vector4[640 * 480];
pcl = new PointCloud();
render = new Renderer();
bestD = 5.0f;
}
