/// <summary>
/// creates a mesh from the current volume and tries to save it to a file
/// </summary>
/// <param name="volume">the volume</param>
/// <param name="pkdp">the data package the mesh origined from</param>
/// <param name="flipAxes">should achses be flipped?</param>
static void exportMesh(ColorReconstruction volume, KinectDataPackage pkdp, bool flipAxes)
{
ColorMesh mesh = volume.CalculateMesh(1);
Microsoft.Win32.SaveFileDialog dialog = new Microsoft.Win32.SaveFileDialog();
dialog.FileName = "KinectFusionMesh_" + pkdp.usedConfig.name + DateTime.UtcNow.ToShortDateString() + ".stl";
dialog.Filter = "STL Mesh Files|*.stl|All Files|*.*";
if (true == dialog.ShowDialog())
{
using (BinaryWriter writer = new BinaryWriter(dialog.OpenFile()))
{
if (null == mesh || null == writer)
{
return;
}
var vertices = mesh.GetVertices();
var normals = mesh.GetNormals();
var indices = mesh.GetTriangleIndexes();
// Check mesh arguments
if (0 == vertices.Count || 0 != vertices.Count % 3 || vertices.Count != indices.Count)
{
throw new Exception("Invalid Mesh Arguments");
}
char[] header = new char[80];
writer.Write(header);
// Write number of triangles
int triangles = vertices.Count / 3;
writer.Write(triangles);
// Sequentially write the normal, 3 vertices of the triangle and attribute, for each triangle
for (int i = 0; i < triangles; i++)
{
// Write normal
var normal = normals[i * 3];
writer.Write(normal.X);
writer.Write(flipAxes ? -normal.Y : normal.Y);
writer.Write(flipAxes ? -normal.Z : normal.Z);
// Write vertices
for (int j = 0; j < 3; j++)
{
var vertex = vertices[(i * 3) + j];
writer.Write(vertex.X);
writer.Write(flipAxes ? -vertex.Y : vertex.Y);
writer.Write(flipAxes ? -vertex.Z : vertex.Z);
}
ushort attribute = 0;
writer.Write(attribute);
}
}
}
}
void save()
{
ColorMesh mesh;
mesh = reconstruction.CalculateMesh(3);
using (var writer = new StreamWriter(@"mesh.ply", false, System.Text.Encoding.ASCII)) {
KinectFusionHelper.SaveAsciiPlyMesh(mesh, writer, true, true);
}
}
/// <summary>
/// constructor, creates a hashset of points from the mesh
/// </summary>
/// <param name="pVolume">the current reconstruction volume</param>
public PointCloud(ColorReconstruction pVolume)
{
//takes the recontruction volume, exports the mesh and extracts the pointcloud from it
ColorMesh mesh = pVolume.CalculateMesh(1);
IReadOnlyCollection <Vector3> temp = mesh.GetVertices();
//create a hashset
pointcloud_hs = createHashset(temp);
}
private void CalculateMesh()
{
try
{
ColorMesh m = volume.CalculateMesh(2);
currentMesh = m;
CVMesh mesh = CVMesh.ConvertToMesh(m);
master.RetrieveMesh(mesh);
reader = null;
sensor.Close();
CaptureCurrent = false;
}
catch (Exception ex)
{
Debug.Write(ex.Message);
}
}
private void WriteToMemory()
{
ColorMesh m = volume.CalculateMesh(1);
PCDExporter.Output(m); //output your mesh somehow
}
