private List <ValidPoint> DepthToColor()
{
// Points to return
List <ValidPoint> validPoints = new List <ValidPoint>();
// Get Data
mDepthData = mMultiSource.GetDepthData();
// Map
mMapper.MapDepthFrameToCameraSpace(mDepthData, mCameraSpacePoints);
mMapper.MapDepthFrameToColorSpace(mDepthData, mColorSpacePoints);
// Filter
for (int i = 0; i < mDepthResolution.x; i++)
{
for (int j = 0; j < mDepthResolution.y / 8; j++)
{
// Sample index
int sampleIndex = (j * mDepthResolution.x) + i;
sampleIndex *= 8;
// Cutoff tests
if (mCameraSpacePoints[sampleIndex].X < mLeftCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].X > mRightCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].Y > mTopCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].Y < mBottomCutOff)
{
continue;
}
// Create point
ValidPoint newPoint = new ValidPoint(mColorSpacePoints[sampleIndex], mCameraSpacePoints[sampleIndex].Z);
// Depth test
if (mCameraSpacePoints[sampleIndex].Z >= mWallDepth)
{
newPoint.mWithinWallDepth = true;
}
// Add
validPoints.Add(newPoint);
}
}
return(validPoints);
}
private List <ValidPoint> DepthToColour()
{
//Get Depth Data
mDepthData = mMultiSource.GetDepthData();
//Map Depth Data
mMapper.MapDepthFrameToCameraSpace(mDepthData, mCameraSpacePoints);
mMapper.MapDepthFrameToColorSpace(mDepthData, mColorSpacePoints);
//Points to return
List <ValidPoint> validPoints = new List <ValidPoint>();
// Filter
for (int i = 0; i < mDepthResolution.x / 8; i++)
{
//Divide by 8 to avoid index out of bounds
for (int j = 0; j < mDepthResolution.y / 8; j++)
{
//downsample all of the points to help it run better
//go through one dimensional array of camera points
int sampleIndex = (j * mDepthResolution.x) + i;
//Skip over 8 values between each point
sampleIndex *= 8;
//Cut off tests
if (mCameraSpacePoints[sampleIndex].X < mLeftCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].X > mRightCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].Y > mTopCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].Y < mBottomCutOff)
{
continue;
}
//Create a new valid point
ValidPoint newPoint = new ValidPoint(mColorSpacePoints[sampleIndex], mCameraSpacePoints[sampleIndex].Z);
//Depth Test
if (mCameraSpacePoints[sampleIndex].Z >= mWallDepth)
{
newPoint.mWithinWallDepth = true;
}
//Add out new pont to valid points
validPoints.Add(newPoint);
}
}
return(validPoints);
}
private List <ValidPoint> DepthToColor()
{
List <ValidPoint> ValidPoints = new List <ValidPoint>();
//Get depth
mDepthData = mMultiSource.GetDepthData();
mMapper.MapDepthFrameToCameraSpace(mDepthData, mCameraSapcePoints);
mMapper.MapDepthFrameToColorSpace(mDepthData, mColorSpacePoints);
//Filter
for (int i = 0; i < mDepthResolution.x / 8; i++)
{
for (int j = 0; j < mDepthResolution.y / 8; j++)
{
int sampleIndex = (j * mDepthResolution.x) + i;
sampleIndex *= 8;
//CutoffTests
if (mCameraSapcePoints[sampleIndex].X < mLeftCutOff)
{
continue;
}
if (mCameraSapcePoints[sampleIndex].X > mRigthCutOff)
{
continue;
}
if (mCameraSapcePoints[sampleIndex].Y > mTopCutOff)
{
continue;
}
if (mCameraSapcePoints[sampleIndex].Y < mBottomCutOff)
{
continue;
}
ValidPoint newPoint = new ValidPoint(mColorSpacePoints[sampleIndex], mCameraSapcePoints[sampleIndex].Z);
if (mCameraSapcePoints[sampleIndex].Z >= mWallDepth)
{
newPoint.mWithinWallDepth = true;
}
ValidPoints.Add(newPoint);
}
}
return(ValidPoints);
}
