public PointCloud(SensorImage depthImage, SensorImage rgbImage, float focal)
{
int width = depthImage.width;
int height = depthImage.height;
float invFocal = 1.0f / focal;
Points = new Point[width * height];
for (int v = 0; v < height; v++)
{
for (int u = 0; u < width; u++)
{
float depth = 0;// depthImage[u, v];
if (depth == 0)
{
Points[u + v * width].x = float.NaN;
Points[u + v * width].y = float.NaN;
Points[u + v * width].z = float.NaN;
Points[u + v * width].rgb = new int[] { 0, 0, 0 };
}
else
{
Points[u + v * width].z = depth * invFocal;
Points[u + v * width].x = u * depth * invFocal;
Points[u + v * width].y = v * depth * invFocal;
Points[u + v * width].rgb = new int[] { 0, 0, 0 };// rgbImage[u,v];
}
}
}
}
void ReleaseDesignerOutlets()
{
if (GpsImage != null)
{
GpsImage.Dispose();
GpsImage = null;
}
if (LastUpdateText != null)
{
LastUpdateText.Dispose();
LastUpdateText = null;
}
if (SensorImage != null)
{
SensorImage.Dispose();
SensorImage = null;
}
if (StartTimeText != null)
{
StartTimeText.Dispose();
StartTimeText = null;
}
if (SubView != null)
{
SubView.Dispose();
SubView = null;
}
if (TelemetryImage != null)
{
TelemetryImage.Dispose();
TelemetryImage = null;
}
}
