public static float GetDistance_3d(this DepthFrame frame, PointF from, PointF to, Intrinsics intr)
{
// Query the frame for distance
// Note: this can be optimized
// It is not recommended to issue an API call for each pixel
// (since the compiler can't inline these)
// However, in this example it is not one of the bottlenecks
float udist = frame.GetDistance((int)@from.X, (int)@from.Y); //From
float vdist = frame.GetDistance((int)to.X, (int)to.Y); //To
// Deproject from pixel to point in 3D
var upoint = DeprojectPixelToPoint(intr, from, udist);
var vpoint = DeprojectPixelToPoint(intr, to, vdist);
// Calculate euclidean distance between the two points
return((float)Math.Sqrt(Math.Pow(upoint[0] - vpoint[0], 2) +
Math.Pow(upoint[1] - vpoint[1], 2) +
Math.Pow(upoint[2] - vpoint[2], 2)));
}
/// <summary>
/// 計算該像素點座標之深度值(單位：m)
/// </summary>
internal float get_distance(DepthFrame depth, int x, int y)
{
float dist = depth.GetDistance(x, y);
return(dist);
}