/// <summary>
/// Kinectにつないでる時だけ使えるコンストラクタ
/// </summary>
/// <param name="originalCoordinateMapper"></param>
/// <param name="depthWidth"></param>
/// <param name="depthHeight"></param>
public LocalCoordinateMapper(CoordinateMapper originalCoordinateMapper, int depthWidth, int depthHeight)
{
this.depthWidth = depthWidth;
this.depthHeight = depthHeight;
this.depthFrameToCameraSpaceTable = originalCoordinateMapper.GetDepthFrameToCameraSpaceTable();
int length = depthWidth * depthHeight;
ushort[] depthBuffer = new ushort[length];
ColorSpacePoint[] colorSpacePoints = new ColorSpacePoint[length];
this.depthFrameToColorSpacfeTable = new PointF[length];
int depth = 1500; // なんでもいい
for (int i = 0; i < length; i++)
{
depthBuffer[i] = (ushort)depth;
}
originalCoordinateMapper.MapDepthFrameToColorSpace(depthBuffer, colorSpacePoints);
for (int i = 0; i < length; i++)
{
PointF tempP = new PointF();
tempP.X = (float)(colorSpacePoints[i].X - D / depth);
tempP.Y = colorSpacePoints[i].Y;
this.depthFrameToColorSpacfeTable[i] = tempP;
}
Debug.WriteLine(1);
}
protected void CalcDistanceMap()
{
if (distanceMap != null)
{
return;
}
Microsoft.Kinect.PointF[] mapPoints = coordinateMapper.GetDepthFrameToCameraSpaceTable();
distanceMap = new float[depthHeight, depthWidth];
for (int y = 0; y < depthHeight; y++)
{
for (int x = 0; x < depthWidth; x++)
{
int idx = y * depthWidth + x;
double a = mapPoints[idx].X;
double b = mapPoints[idx].Y;
a *= a;
b *= b;
distanceMap[y, x] = (float)Math.Sqrt(1 + a + b);
}
}
}
/// <summary>
/// Kinectにつないでる時だけ使えるコンストラクタ
/// </summary>
/// <param name="originalCoordinateMapper"></param>
/// <param name="depthWidth"></param>
/// <param name="depthHeight"></param>
public LocalCoordinateMapper(CoordinateMapper originalCoordinateMapper, int depthWidth, int depthHeight)
{
this.depthWidth = depthWidth;
this.depthHeight = depthHeight;
this.depthFrameToCameraSpaceTable = originalCoordinateMapper.GetDepthFrameToCameraSpaceTable();
int length = depthWidth * depthHeight;
ushort[] depthBuffer = new ushort[length];
ColorSpacePoint[] colorSpacePoints = new ColorSpacePoint[length];
this.depthFrameToColorSpacfeTable = new PointF[length];
int depth = 1500; // なんでもいい
for (int i = 0; i < length; i++)
{
depthBuffer[i] = (ushort)depth;
}
originalCoordinateMapper.MapDepthFrameToColorSpace(depthBuffer, colorSpacePoints);
for (int i = 0; i < length; i++)
{
PointF tempP = new PointF();
tempP.X = (float)(colorSpacePoints[i].X - D / depth);
tempP.Y = colorSpacePoints[i].Y;
this.depthFrameToColorSpacfeTable[i] = tempP;
}
Debug.WriteLine(1);
}
/// <summary>
/// Convenience factory to create table from Kinect coordinate mapper
/// </summary>
/// <param name="device">Direct3D Device</param>
/// <param name="coordinateMapper">Kinect Coordinate mapper</param>
/// <returns>Ray table texture</returns>
public static unsafe RayTableTexture FromCoordinateMapper(Device device, CoordinateMapper coordinateMapper)
{
var points = coordinateMapper.GetDepthFrameToCameraSpaceTable();
return FromPoints(device, points);
}
/// <summary>
/// Convenience factory to create table from Kinect coordinate mapper
/// </summary>
/// <param name="device">Direct3D Device</param>
/// <param name="coordinateMapper">Kinect Coordinate mapper</param>
/// <returns>Ray table texture</returns>
public unsafe static RayTableTexture FromCoordinateMapper(Device device, CoordinateMapper coordinateMapper)
{
var points = coordinateMapper.GetDepthFrameToCameraSpaceTable();
return(FromPoints(device, points));
}
