public PoseFinder(Engine e)
{
this.volume = e.FusionVolume;
this.engine = e;
// Create a camera pose finder with default parameters
CameraPoseFinderParameters cameraPoseFinderParams = CameraPoseFinderParameters.Defaults;
finder = CameraPoseFinder.FusionCreateCameraPoseFinder(cameraPoseFinderParams);
resampledColorImagePixels = new int[KinectSettings.DEPTH_PIXEL_COUNT];
}
public VolumeBuilder(Scanner source, Dispatcher dispatcher)
{
if (source == null)
{
throw new ArgumentNullException("source");
}
this.source = source;
this.dispatcher = dispatcher;
// Set the world-view transform to identity, so the world origin is the initial camera location.
this.worldToCameraTransform = Matrix4.Identity;
// Map world X axis to blue channel, Y axis to green channel and Z axis to red channel,
// normalizing each to the range [0, 1]. We also add a shift of 0.5 to both X,Y channels
// as the world origin starts located at the center of the front face of the volume,
// hence we need to map negative x,y world vertex locations to positive color values.
this.worldToBGRTransform = Matrix4.Identity;
this.worldToBGRTransform.M11 = settings.VoxelsPerMeter / settings.VoxelsX;
this.worldToBGRTransform.M22 = settings.VoxelsPerMeter / settings.VoxelsY;
this.worldToBGRTransform.M33 = settings.VoxelsPerMeter / settings.VoxelsZ;
this.worldToBGRTransform.M41 = 0.5f;
this.worldToBGRTransform.M42 = 0.5f;
this.worldToBGRTransform.M44 = 1.0f;
var volumeParameters = new ReconstructionParameters(settings.VoxelsPerMeter, settings.VoxelsX, settings.VoxelsY, settings.VoxelsZ);
this.volume = ColorReconstruction.FusionCreateReconstruction(volumeParameters, ReconstructionProcessor.Amp, -1, this.worldToCameraTransform);
var depthWidth = this.source.Frame.DepthWidth;
var depthHeight = this.source.Frame.DepthHeight;
var depthSize = depthWidth * depthHeight;
this.depthFloatFrame = new FusionFloatImageFrame(depthWidth, depthHeight);
this.smoothDepthFloatFrame = new FusionFloatImageFrame(depthWidth, depthHeight);
this.resampledColorFrame = new FusionColorImageFrame(depthWidth, depthHeight);
this.resampledColorFrameDepthAligned = new FusionColorImageFrame(depthWidth, depthHeight);
this.deltaFromReferenceFrame = new FusionFloatImageFrame(depthWidth, depthHeight);
this.shadedSurfaceFrame = new FusionColorImageFrame(depthWidth, depthHeight);
this.raycastPointCloudFrame = new FusionPointCloudImageFrame(depthWidth, depthHeight);
this.depthPointCloudFrame = new FusionPointCloudImageFrame(depthWidth, depthHeight);
var downsampledDepthWidth = depthWidth / settings.DownsampleFactor;
var downsampledDepthHeight = depthHeight / settings.DownsampleFactor;
var downsampledDepthSize = downsampledDepthWidth * downsampledDepthHeight;
this.downsampledDepthFloatFrame = new FusionFloatImageFrame(downsampledDepthWidth, downsampledDepthHeight);
this.downsampledSmoothDepthFloatFrame = new FusionFloatImageFrame(downsampledDepthWidth, downsampledDepthHeight);
this.downsampledRaycastPointCloudFrame = new FusionPointCloudImageFrame(downsampledDepthWidth, downsampledDepthHeight);
this.downsampledDepthPointCloudFrame = new FusionPointCloudImageFrame(downsampledDepthWidth, downsampledDepthHeight);
this.downsampledDeltaFromReferenceFrameColorFrame = new FusionColorImageFrame(downsampledDepthWidth, downsampledDepthHeight);
this.resampledColorData = new int[depthSize];
this.downsampledDepthData = new float[downsampledDepthSize];
this.downsampledDeltaFromReferenceColorPixels = new int[downsampledDepthSize];
this.deltaFromReferenceFramePixelsArgb = new int[depthSize];
this.shadedSurfaceFramePixelsArgb = new int[this.shadedSurfaceFrame.PixelDataLength];
this.defaultWorldToVolumeTransform = this.volume.GetCurrentWorldToVolumeTransform();
this.volumeBitmap = new WriteableBitmap(depthWidth, depthHeight, settings.DefaultSystemDPI, settings.DefaultSystemDPI, PixelFormats.Bgr32, null);
// Create a camera pose finder with default parameters
this.cameraPoseFinder = CameraPoseFinder.FusionCreateCameraPoseFinder(CameraPoseFinderParameters.Defaults);
this.workerThread = new Thread(WorkerThreadProc);
this.workerThread.Start();
this.source.Frame.OnDataUpdate += OnFrameDataUpdate;
}
