public bool crossesPlane(PointCluster points)
{
foreach (DepthPoint pt in points.points)
{
if (crossesPlane(pt)) return true;
}
return false;
}
public bool crossesPlane(PointCluster points)
{
foreach (DepthPoint pt in points.points)
{
if (crossesPlane(pt))
{
return(true);
}
}
return(false);
}
public static BoundingRectangle CreateBoundingRectangle(PointCluster points)
{
Cube cube = CreateBoundingCube(points);
BoundingRectangle result = new BoundingRectangle();
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 2; j++)
{
result.vertices[i, j] = cube.vertices[i, j];
}
}
return result;
}
public static BoundingRectangle CreateBoundingRectangle(PointCluster points)
{
Cube cube = CreateBoundingCube(points);
BoundingRectangle result = new BoundingRectangle();
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 2; j++)
{
result.vertices[i, j] = cube.vertices[i, j];
}
}
return(result);
}
/// <summary>
/// NOT a flood fill, standin for testing
/// </summary>
/// <param name="depthData"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="mmCutoff"></param>
/// <returns></returns>
public static PointCluster FloodFill(DepthImagePixel[] depthData, int x, int y, int width, int height, int mmCutoff)
{
HashSet<DepthPoint> resultPoints = new HashSet<DepthPoint>();
for (int i = 0; i < depthData.Length; i++)
{
if (resultPoints.Count > MAX_PIXELS)
break;
if (depthData[i].Depth > 400 && depthData[i].Depth < 4000 && depthData[i].Depth < 1000)
{
int xIdx = i % width;
int yIdx = i / width;
resultPoints.Add(new DepthPoint(xIdx, yIdx, depthData[i].Depth));
}
}
PointCluster result = new PointCluster(resultPoints);
//Console.WriteLine("Before pruning: " + result.points.Count);
result.Prune();
return result;
}
internal void GiveFrame(DepthImageFrame depthFrame, PointCluster floodFill)
{
short[] imagePixelData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(imagePixelData);
float RenderWidth = 640.0f;
float RenderHeight = 480.0f;
Bitmap bmap = new System.Drawing.Bitmap(depthFrame.Width, depthFrame.Height, System.Drawing.Imaging.PixelFormat.Format16bppRgb555);
System.Drawing.Imaging.BitmapData bmapdata = bmap.LockBits(new System.Drawing.Rectangle(0, 0, depthFrame.Width
, depthFrame.Height), ImageLockMode.WriteOnly, bmap.PixelFormat);
IntPtr ptr = bmapdata.Scan0;
System.Runtime.InteropServices.Marshal.Copy(imagePixelData, 0, ptr, depthFrame.Width * depthFrame.Height);
bmap.UnlockBits(bmapdata);
/*System.Drawing.Graphics g = System.Drawing.Graphics.FromImage(bmap);
* this.myImageBox.Source =
* System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(
* bmap.GetHbitmap(),
* IntPtr.Zero,
* System.Windows.Int32Rect.Empty,
* BitmapSizeOptions.FromWidthAndHeight((int)this.myImageBox.Width, (int)this.myImageBox.Height));*/
using (DrawingContext lfdc = drawingGroup.Open())//this.liveFeedbackGroup.Open())
{
lfdc.DrawImage(System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(
bmap.GetHbitmap(),
IntPtr.Zero,
System.Windows.Int32Rect.Empty,
BitmapSizeOptions.FromWidthAndHeight((int)RenderWidth, (int)RenderHeight)),
//BitmapSizeOptions.FromWidthAndHeight((int)this.myImageBox.ActualWidth, (int)this.myImageBox.ActualHeight)),
new Rect(0.0, 0.0, RenderWidth, RenderHeight));
foreach (DepthPoint point in floodFill.points)
{
lfdc.DrawRoundedRectangle(System.Windows.Media.Brushes.Red, null, new Rect(point.x, point.y, 3, 3), null, 1, null, 1, null);
}
}
}
internal void GiveFrame(DepthImageFrame depthFrame, PointCluster floodFill)
{
short[] imagePixelData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(imagePixelData);
float RenderWidth = 640.0f;
float RenderHeight = 480.0f;
Bitmap bmap = new System.Drawing.Bitmap(depthFrame.Width, depthFrame.Height, System.Drawing.Imaging.PixelFormat.Format16bppRgb555);
System.Drawing.Imaging.BitmapData bmapdata = bmap.LockBits(new System.Drawing.Rectangle(0, 0, depthFrame.Width
, depthFrame.Height), ImageLockMode.WriteOnly, bmap.PixelFormat);
IntPtr ptr = bmapdata.Scan0;
System.Runtime.InteropServices.Marshal.Copy(imagePixelData, 0, ptr, depthFrame.Width * depthFrame.Height);
bmap.UnlockBits(bmapdata);
/*System.Drawing.Graphics g = System.Drawing.Graphics.FromImage(bmap);
this.myImageBox.Source =
System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(
bmap.GetHbitmap(),
IntPtr.Zero,
System.Windows.Int32Rect.Empty,
BitmapSizeOptions.FromWidthAndHeight((int)this.myImageBox.Width, (int)this.myImageBox.Height));*/
using (DrawingContext lfdc = drawingGroup.Open())//this.liveFeedbackGroup.Open())
{
lfdc.DrawImage(System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(
bmap.GetHbitmap(),
IntPtr.Zero,
System.Windows.Int32Rect.Empty,
BitmapSizeOptions.FromWidthAndHeight((int)RenderWidth, (int)RenderHeight)),
//BitmapSizeOptions.FromWidthAndHeight((int)this.myImageBox.ActualWidth, (int)this.myImageBox.ActualHeight)),
new Rect(0.0, 0.0, RenderWidth, RenderHeight));
foreach (DepthPoint point in floodFill.points)
{
lfdc.DrawRoundedRectangle(System.Windows.Media.Brushes.Red, null, new Rect(point.x, point.y, 3, 3), null, 1, null, 1, null);
}
}
}
/// <summary>
/// NOT a flood fill, standin for testing
/// </summary>
/// <param name="depthData"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="mmCutoff"></param>
/// <returns></returns>
public static PointCluster FloodFill(DepthImagePixel[] depthData, int x, int y, int width, int height, int mmCutoff)
{
HashSet <DepthPoint> resultPoints = new HashSet <DepthPoint>();
for (int i = 0; i < depthData.Length; i++)
{
if (resultPoints.Count > MAX_PIXELS)
{
break;
}
if (depthData[i].Depth > 400 && depthData[i].Depth < 4000 && depthData[i].Depth < 1000)
{
int xIdx = i % width;
int yIdx = i / width;
resultPoints.Add(new DepthPoint(xIdx, yIdx, depthData[i].Depth));
}
}
PointCluster result = new PointCluster(resultPoints);
//Console.WriteLine("Before pruning: " + result.points.Count);
result.Prune();
return(result);
}
/// <summary>
/// Start Siavash
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void SensorDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
this.maxDepth = depthFrame.MaxDepth;
this.minDepth = depthFrame.MinDepth;
this.closestPoint.Depth = Convert.ToInt16(this.maxDepth);
if (this.imagePixelData == null || this.imadeData == null)
{
this.imadeData = new short[depthFrame.PixelDataLength];
this.imagePixelData = new DepthImagePixel[depthFrame.PixelDataLength];
}
depthFrame.CopyDepthImagePixelDataTo(imagePixelData);
depthFrame.CopyPixelDataTo(imadeData);
// This cutoff allows us to control how often the closest point is calculated (it doesn't necessarily need to be calculated every frame)
closestPointCounter %= CLOSEST_POINT_COUNTER_CUTOFF;
if (closestPointCounter == 0)
{
findTheClosestPoint(depthFrame.PixelDataLength, depthFrame.Width, depthFrame.Height);
}
closestPointCounter++;
// Flood fill from this point then send a point to the distributor
// If the nearest point hasn't broken the plane, then don't bother doing anything with it
// The array index is computed as x + y*width,
// So x = idx % width
// y = (idx - x)/width
int xIdx = this.pixelIndex % depthFrame.Width;
int yIdx = this.pixelIndex / depthFrame.Width;
myPointCluster = ThreeDAuth.Util.FloodFill2(imagePixelData, xIdx, yIdx, depthFrame.Width, depthFrame.Height - 1, DEPTH_CUTOFF);
ThreeDAuth.DepthPoint centroid = myPointCluster.Centroid;
// send centroid to filter and draw if valid
int counter = 0;
while (myPointCluster.points.Count < 50 && counter < 20)
{
imagePixelData[pixelIndex].Depth = short.MaxValue;
counter++;
findTheClosestPoint(depthFrame.PixelDataLength, depthFrame.Width, depthFrame.Height);
xIdx = this.pixelIndex % depthFrame.Width;
yIdx = this.pixelIndex / depthFrame.Width;
myPointCluster = ThreeDAuth.Util.FloodFill2(imagePixelData, xIdx, yIdx, depthFrame.Width, depthFrame.Height - 1, DEPTH_CUTOFF);
centroid = myPointCluster.Centroid;
}
if (counter < 20)
{
using (DrawingContext dc = this.liveFeedbackGroup.Open())
{
drawHands(dc, centroid, positionMotionFilter.IsValidPoint(centroid), depthFrame);
}
}
//showDepthView(depthFrame, depthFrame.Width, depthFrame.Height,centroid);
//pDistributor.GivePoint(centroid);
//Console.WriteLine("Centroid: " + centroid);
//ThreeDAuth.PointDistributor.SGivePoint(centroid);
}
}
}
/// <summary>
/// DO NOT REMOVE
/// </summary>
/// <param name="depthData"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="mmCutoff"></param>
/// <returns></returns>
public static PointCluster FloodFill2(DepthImagePixel[] depthData, int x, int y, int width, int height)
{
// Queue of tuples storing <newX, newY, previousDepth>
int mmCutoff = HandTrackingOptionSet.FloodFillDepth;
Queue<Tuple<int, int, DepthImagePixel>> explorePoints = new Queue<Tuple<int, int, DepthImagePixel>>();
HashSet<Tuple<int, int>> exploredPoints = new HashSet<Tuple<int,int>>();
HashSet<DepthPoint> resultPoints = new HashSet<DepthPoint>();
int jumpdistance = 2;
// Filtering on points
// throw out anything closer than 400 and farther than 4000?
explorePoints.Enqueue(new Tuple<int, int, DepthImagePixel>(x, y, depthData[x + y * width]));
exploredPoints.Add(new Tuple<int, int>(x, y));
float baseDepth = depthData[x + y * width].Depth;
//Console.WriteLine("Base Depth: " + baseDepth);
while (explorePoints.Count > 0 && resultPoints.Count < MAX_PIXELS)
{
Tuple<int, int, DepthImagePixel> currentPoint = explorePoints.Dequeue();
DepthImagePixel currentDepth = depthData[currentPoint.Item1 + currentPoint.Item2 * width];
if (//Math.Abs(currentDepth.Depth - currentPoint.Item3.Depth) < mmCutoff &&
Math.Abs(currentDepth.Depth - baseDepth) < mmCutoff &&
Math.Abs(currentPoint.Item1 - x) < PIXEL_WIDTH_EPSILON && Math.Abs(currentPoint.Item2 - y) < PIXEL_HEIGHT_EPSILON)
{
resultPoints.Add(new DepthPoint(currentPoint.Item1, currentPoint.Item2, currentDepth.Depth));
// Add the neighboring points to be explored
Tuple<int, int, DepthImagePixel> leftNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 - jumpdistance, currentPoint.Item2, currentDepth);
Tuple<int, int, DepthImagePixel> rightNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 + jumpdistance, currentPoint.Item2, currentDepth);
Tuple<int, int, DepthImagePixel> topNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 + jumpdistance, currentDepth);
Tuple<int, int, DepthImagePixel> bottomNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 - jumpdistance, currentDepth);
Tuple<int, int> leftNeighborPoint = new Tuple<int, int>(currentPoint.Item1 - jumpdistance, currentPoint.Item2);
Tuple<int, int> rightNeighborPoint = new Tuple<int, int>(currentPoint.Item1 + jumpdistance, currentPoint.Item2);
Tuple<int, int> topNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 + jumpdistance);
Tuple<int, int> bottomNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 - jumpdistance);
/*
Tuple<int, int, DepthImagePixel> leftNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 - 1, currentPoint.Item2, currentDepth);
Tuple<int, int, DepthImagePixel> rightNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 + 1, currentPoint.Item2, currentDepth);
Tuple<int, int, DepthImagePixel> topNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 + 1, currentDepth);
Tuple<int, int, DepthImagePixel> bottomNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 - 1, currentDepth);
Tuple<int, int> leftNeighborPoint = new Tuple<int, int>(currentPoint.Item1 - 1, currentPoint.Item2);
Tuple<int, int> rightNeighborPoint = new Tuple<int, int>(currentPoint.Item1 + 1, currentPoint.Item2);
Tuple<int, int> topNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 + 1);
Tuple<int, int> bottomNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 - 1);
*/
if (leftNeighbor.Item1 >= 0 && !exploredPoints.Contains(leftNeighborPoint))
{
exploredPoints.Add(leftNeighborPoint);
explorePoints.Enqueue(leftNeighbor);
}
if (rightNeighbor.Item1 < width && !exploredPoints.Contains(rightNeighborPoint))
{
exploredPoints.Add(rightNeighborPoint);
explorePoints.Enqueue(rightNeighbor);
}
if (topNeighbor.Item2 < height && !exploredPoints.Contains(topNeighborPoint))
{
exploredPoints.Add(topNeighborPoint);
explorePoints.Enqueue(topNeighbor);
}
if (bottomNeighbor.Item2 >= 0 && !exploredPoints.Contains(bottomNeighborPoint))
{
exploredPoints.Add(bottomNeighborPoint);
explorePoints.Enqueue(bottomNeighbor);
}
}
}
PointCluster result = new PointCluster(resultPoints);
result.Prune();
//exploredPoints.Clear();
//explorePoints.Clear();
return result;
}
public static Cube CreateBoundingCube(PointCluster points)
{
// Start all the vertices out at the first point then grow them accordingly
Cube boundingCube = new Cube();
bool initialized = false;
foreach (DepthPoint point in points.points)
{
if (!initialized)
{
initialized = true;
for (int i = 0; i < 8; i++)
{
boundingCube.vertices[i, 0] = point.x;
boundingCube.vertices[i, 1] = point.y;
boundingCube.vertices[i, 2] = point.depth;
}
}
else
{
if (point.x < boundingCube.vertices[0, 0])
{
boundingCube.vertices[0, 0] = point.x;
boundingCube.vertices[3, 0] = point.x;
boundingCube.vertices[4, 0] = point.x;
boundingCube.vertices[7, 0] = point.x;
}
else if (point.x > boundingCube.vertices[1, 0])
{
boundingCube.vertices[1, 0] = point.x;
boundingCube.vertices[2, 0] = point.x;
boundingCube.vertices[5, 0] = point.x;
boundingCube.vertices[6, 0] = point.x;
}
if (point.y < boundingCube.vertices[2, 1])
{
boundingCube.vertices[2, 1] = point.y;
boundingCube.vertices[3, 1] = point.y;
boundingCube.vertices[6, 1] = point.y;
boundingCube.vertices[7, 1] = point.y;
}
else if (point.y > boundingCube.vertices[0, 1])
{
boundingCube.vertices[0, 1] = point.y;
boundingCube.vertices[1, 1] = point.y;
boundingCube.vertices[4, 1] = point.y;
boundingCube.vertices[5, 1] = point.y;
}
if (point.depth < boundingCube.vertices[0, 2])
{
boundingCube.vertices[1, 2] = point.depth;
boundingCube.vertices[2, 2] = point.depth;
boundingCube.vertices[3, 2] = point.depth;
boundingCube.vertices[4, 2] = point.depth;
}
if (point.depth > boundingCube.vertices[4, 2])
{
boundingCube.vertices[4, 2] = point.depth;
boundingCube.vertices[5, 2] = point.depth;
boundingCube.vertices[6, 2] = point.depth;
boundingCube.vertices[7, 2] = point.depth;
}
}
}
return boundingCube;
}
/// <summary>
/// DO NOT REMOVE
/// </summary>
/// <param name="depthData"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="mmCutoff"></param>
/// <returns></returns>
public static PointCluster FloodFill2(DepthImagePixel[] depthData, int x, int y, int width, int height)
{
// Queue of tuples storing <newX, newY, previousDepth>
int mmCutoff = HandTrackingOptionSet.FloodFillDepth;
Queue <Tuple <int, int, DepthImagePixel> > explorePoints = new Queue <Tuple <int, int, DepthImagePixel> >();
HashSet <Tuple <int, int> > exploredPoints = new HashSet <Tuple <int, int> >();
HashSet <DepthPoint> resultPoints = new HashSet <DepthPoint>();
int jumpdistance = 2;
// Filtering on points
// throw out anything closer than 400 and farther than 4000?
explorePoints.Enqueue(new Tuple <int, int, DepthImagePixel>(x, y, depthData[x + y * width]));
exploredPoints.Add(new Tuple <int, int>(x, y));
float baseDepth = depthData[x + y * width].Depth;
//Console.WriteLine("Base Depth: " + baseDepth);
while (explorePoints.Count > 0 && resultPoints.Count < MAX_PIXELS)
{
Tuple <int, int, DepthImagePixel> currentPoint = explorePoints.Dequeue();
DepthImagePixel currentDepth = depthData[currentPoint.Item1 + currentPoint.Item2 * width];
if (//Math.Abs(currentDepth.Depth - currentPoint.Item3.Depth) < mmCutoff &&
Math.Abs(currentDepth.Depth - baseDepth) < mmCutoff &&
Math.Abs(currentPoint.Item1 - x) < PIXEL_WIDTH_EPSILON && Math.Abs(currentPoint.Item2 - y) < PIXEL_HEIGHT_EPSILON)
{
resultPoints.Add(new DepthPoint(currentPoint.Item1, currentPoint.Item2, currentDepth.Depth));
// Add the neighboring points to be explored
Tuple <int, int, DepthImagePixel> leftNeighbor = new Tuple <int, int, DepthImagePixel>(currentPoint.Item1 - jumpdistance, currentPoint.Item2, currentDepth);
Tuple <int, int, DepthImagePixel> rightNeighbor = new Tuple <int, int, DepthImagePixel>(currentPoint.Item1 + jumpdistance, currentPoint.Item2, currentDepth);
Tuple <int, int, DepthImagePixel> topNeighbor = new Tuple <int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 + jumpdistance, currentDepth);
Tuple <int, int, DepthImagePixel> bottomNeighbor = new Tuple <int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 - jumpdistance, currentDepth);
Tuple <int, int> leftNeighborPoint = new Tuple <int, int>(currentPoint.Item1 - jumpdistance, currentPoint.Item2);
Tuple <int, int> rightNeighborPoint = new Tuple <int, int>(currentPoint.Item1 + jumpdistance, currentPoint.Item2);
Tuple <int, int> topNeighborPoint = new Tuple <int, int>(currentPoint.Item1, currentPoint.Item2 + jumpdistance);
Tuple <int, int> bottomNeighborPoint = new Tuple <int, int>(currentPoint.Item1, currentPoint.Item2 - jumpdistance);
/*
* Tuple<int, int, DepthImagePixel> leftNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 - 1, currentPoint.Item2, currentDepth);
* Tuple<int, int, DepthImagePixel> rightNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1 + 1, currentPoint.Item2, currentDepth);
* Tuple<int, int, DepthImagePixel> topNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 + 1, currentDepth);
* Tuple<int, int, DepthImagePixel> bottomNeighbor = new Tuple<int, int, DepthImagePixel>(currentPoint.Item1, currentPoint.Item2 - 1, currentDepth);
*
* Tuple<int, int> leftNeighborPoint = new Tuple<int, int>(currentPoint.Item1 - 1, currentPoint.Item2);
* Tuple<int, int> rightNeighborPoint = new Tuple<int, int>(currentPoint.Item1 + 1, currentPoint.Item2);
* Tuple<int, int> topNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 + 1);
* Tuple<int, int> bottomNeighborPoint = new Tuple<int, int>(currentPoint.Item1, currentPoint.Item2 - 1);
*/
if (leftNeighbor.Item1 >= 0 && !exploredPoints.Contains(leftNeighborPoint))
{
exploredPoints.Add(leftNeighborPoint);
explorePoints.Enqueue(leftNeighbor);
}
if (rightNeighbor.Item1 < width && !exploredPoints.Contains(rightNeighborPoint))
{
exploredPoints.Add(rightNeighborPoint);
explorePoints.Enqueue(rightNeighbor);
}
if (topNeighbor.Item2 < height && !exploredPoints.Contains(topNeighborPoint))
{
exploredPoints.Add(topNeighborPoint);
explorePoints.Enqueue(topNeighbor);
}
if (bottomNeighbor.Item2 >= 0 && !exploredPoints.Contains(bottomNeighborPoint))
{
exploredPoints.Add(bottomNeighborPoint);
explorePoints.Enqueue(bottomNeighbor);
}
}
}
PointCluster result = new PointCluster(resultPoints);
result.Prune();
//exploredPoints.Clear();
//explorePoints.Clear();
return(result);
}
public static Cube CreateBoundingCube(PointCluster points)
{
// Start all the vertices out at the first point then grow them accordingly
Cube boundingCube = new Cube();
bool initialized = false;
foreach (DepthPoint point in points.points)
{
if (!initialized)
{
initialized = true;
for (int i = 0; i < 8; i++)
{
boundingCube.vertices[i, 0] = point.x;
boundingCube.vertices[i, 1] = point.y;
boundingCube.vertices[i, 2] = point.depth;
}
}
else
{
if (point.x < boundingCube.vertices[0, 0])
{
boundingCube.vertices[0, 0] = point.x;
boundingCube.vertices[3, 0] = point.x;
boundingCube.vertices[4, 0] = point.x;
boundingCube.vertices[7, 0] = point.x;
}
else if (point.x > boundingCube.vertices[1, 0])
{
boundingCube.vertices[1, 0] = point.x;
boundingCube.vertices[2, 0] = point.x;
boundingCube.vertices[5, 0] = point.x;
boundingCube.vertices[6, 0] = point.x;
}
if (point.y < boundingCube.vertices[2, 1])
{
boundingCube.vertices[2, 1] = point.y;
boundingCube.vertices[3, 1] = point.y;
boundingCube.vertices[6, 1] = point.y;
boundingCube.vertices[7, 1] = point.y;
}
else if (point.y > boundingCube.vertices[0, 1])
{
boundingCube.vertices[0, 1] = point.y;
boundingCube.vertices[1, 1] = point.y;
boundingCube.vertices[4, 1] = point.y;
boundingCube.vertices[5, 1] = point.y;
}
if (point.depth < boundingCube.vertices[0, 2])
{
boundingCube.vertices[1, 2] = point.depth;
boundingCube.vertices[2, 2] = point.depth;
boundingCube.vertices[3, 2] = point.depth;
boundingCube.vertices[4, 2] = point.depth;
}
if (point.depth > boundingCube.vertices[4, 2])
{
boundingCube.vertices[4, 2] = point.depth;
boundingCube.vertices[5, 2] = point.depth;
boundingCube.vertices[6, 2] = point.depth;
boundingCube.vertices[7, 2] = point.depth;
}
}
}
return(boundingCube);
}