/// <summary>
/// creates color info for all DEPTH pixels (to later e.g. write ply file from it)
/// </summary>
/// <param name="myColorMetaData"></param>
/// <param name="myDepthMetaData"></param>
/// <param name="myCoordinateMapper"></param>
/// <returns></returns>
public static byte[] ColorInfoForDepth(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, CoordinateMapper myCoordinateMapper)
{
//Test_GetCameraPoints(myDepthMetaData, myCoordinateMapper);
byte[] mydisplayPixels = new byte[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect * MetaDataBase.BYTES_PER_PIXEL];
//mapped data
int numberOfPoints = 0;
int notMappedPixels = -1;
if (myColorMetaData != null)
{
ColorSpacePoint[] mycolorPointsInDepthSpace = new ColorSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
myCoordinateMapper.MapDepthFrameToColorSpace(myDepthMetaData.FrameData, mycolorPointsInDepthSpace);
for (int x = 0; x < DepthMetaData.XDepthMaxKinect; ++x)
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; ++y)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
if (myDepthMetaData.FrameData[depthIndex] != 0)
{
ColorSpacePoint colorPoint = mycolorPointsInDepthSpace[depthIndex];
int xColor = Convert.ToInt32(colorPoint.X);
int yColor = Convert.ToInt32(colorPoint.Y);
int depthIndexColor = depthIndex * MetaDataBase.BYTES_PER_PIXEL;
if ((xColor >= 0) && (xColor < ColorMetaData.XColorMaxKinect) && (yColor >= 0) && (yColor < ColorMetaData.YColorMaxKinect))
{
int colorIndex = ((yColor * ColorMetaData.XColorMaxKinect) + xColor) * MetaDataBase.BYTES_PER_PIXEL;
mydisplayPixels[depthIndexColor + 0] = myColorMetaData.Pixels[colorIndex];
mydisplayPixels[depthIndexColor + 1] = myColorMetaData.Pixels[colorIndex + 1];
mydisplayPixels[depthIndexColor + 2] = myColorMetaData.Pixels[colorIndex + 2];
mydisplayPixels[depthIndexColor + 3] = 0xff;
numberOfPoints++;
}
else
{
notMappedPixels++;
mydisplayPixels[depthIndexColor + 0] = 255;
mydisplayPixels[depthIndexColor + 1] = 255;
mydisplayPixels[depthIndexColor + 2] = 255;
mydisplayPixels[depthIndexColor + 3] = 0xff;
}
}
}
}
}
//System.Diagnostics.Debug.WriteLine("---------> Number of Depth points: " + numberOfPoints.ToString());
return(mydisplayPixels);
}
public System.Drawing.Image Color_Image(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
WriteableBitmap myBitmapColorPlayer = Color_Bitmap(myColorMetaData, myDepthMetaData, myBodyMetaData);
if (myBitmapColorPlayer != null)
{
return(myBitmapColorPlayer.ToImage());
}
else
{
return(null);
}
}
/// <summary>
/// creates color info for all DEPTH pixels (to later e.g. write ply file from it)
/// </summary>
/// <param name="myColorMetaData"></param>
/// <param name="myDepthMetaData"></param>
/// <param name="myCoordinateMapper"></param>
/// <returns></returns>
public static PointCloud ToPointCloud(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData, CoordinateMapper myCoordinateMapper)
{
if (myColorMetaData == null && myDepthMetaData == null)
{
return(null);
}
ColorSpacePoint[] mycolorPointsInDepthSpace = new ColorSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
CameraSpacePoint[] myRealWorldPoints = new CameraSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
myCoordinateMapper.MapDepthFrameToCameraSpace(myDepthMetaData.FrameData, myRealWorldPoints);
myCoordinateMapper.MapDepthFrameToColorSpace(myDepthMetaData.FrameData, mycolorPointsInDepthSpace);
if (myColorMetaData != null)
{
return(PointCloudWithColorParallel(mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData, myDepthMetaData, myBodyMetaData));
}
else
{
return(PointCloudBW(myRealWorldPoints, myDepthMetaData, myBodyMetaData));
}
}
//private static PointCloud PointCloudWithColorParallel(ColorSpacePoint[] mycolorPointsInDepthSpace, CameraSpacePoint[] myRealWorldPoints, ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
//{
// VectorColor[,] arrVectors = Helper_CreateArray(mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData, myDepthMetaData);
// PointCloud pc = new PointCloud();
// List<Vector3> vecList = new List<Vector3>();
// List<Vector3> colList = new List<Vector3>();
// int indV = -1;
// for (int x = 0; x < DepthMetaData.XDepthMaxKinect; x++)
// {
// for (int y = 0; y < DepthMetaData.YDepthMaxKinect; y++)
// {
// indV++;
// if (arrVectors[x, y].Vector != Vector3.Zero)
// {
// vecList.Add(arrVectors[x, y].Vector);
// colList.Add(arrVectors[x, y].Color);
// }
// }
// }
// pc.Vectors = vecList.ToArray();
// pc.Colors = colList.ToArray();
// return pc;
//}
private static VectorColor[,] Helper_CreateArray(ColorSpacePoint[] mycolorPointsInDepthSpace, CameraSpacePoint[] myRealWorldPoints, ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData)
{
VectorColor[,] arrVectors = new VectorColor[DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect];
try
{
//for (int x = 0; x < DepthMetaData.XResDefault; x++)
System.Threading.Tasks.Parallel.For(0, DepthMetaData.XDepthMaxKinect, x =>
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; y++)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
if (myDepthMetaData.FrameData[depthIndex] != 0)
{
ColorSpacePoint colorPoint = mycolorPointsInDepthSpace[depthIndex];
int xColor = Convert.ToInt32(colorPoint.X);
int yColor = Convert.ToInt32(colorPoint.Y);
int depthIndexColor = depthIndex * MetaDataBase.BYTES_PER_PIXEL;
if ((xColor >= 0) && (xColor < ColorMetaData.XColorMaxKinect) && (yColor >= 0) && (yColor < ColorMetaData.YColorMaxKinect))
{
int colorIndex = ((yColor * ColorMetaData.XColorMaxKinect) + xColor) * MetaDataBase.BYTES_PER_PIXEL;
Vector3 vect = new Vector3(myRealWorldPoints[depthIndex].X, myRealWorldPoints[depthIndex].Y, myRealWorldPoints[depthIndex].Z);
Vector3 col = new Vector3(myColorMetaData.Pixels[colorIndex] / 255f, myColorMetaData.Pixels[colorIndex + 1] / 255f, myColorMetaData.Pixels[colorIndex + 2] / 255f);
arrVectors[x, y].Vector = vect;
arrVectors[x, y].Color = col;
}
}
}
});
//};
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine(" error in PointCloudWithColor " + err.Message);
}
return(arrVectors);
}
private static PointCloud PointCloudWithColorParallel_AllPoints(ColorSpacePoint[] mycolorPointsInDepthSpace, CameraSpacePoint[] myRealWorldPoints, ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData)
{
VectorColor[,] arrVectors = Helper_CreateArray_AllPoints(mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData, myDepthMetaData);
PointCloud pc = new PointCloud();
pc.Vectors = new Vector3[arrVectors.Length];
pc.Colors = new Vector3[arrVectors.Length];
int indV = -1;
for (int x = 0; x < DepthMetaData.XDepthMaxKinect; x++)
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; y++)
{
indV++;
pc.Vectors[indV] = arrVectors[x, y].Vector;
pc.Colors[indV] = arrVectors[x, y].Color;
}
}
return(pc);
}
public WriteableBitmap Color_Bitmap(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
if (myDepthMetaData == null || myBodyMetaData == null || myColorMetaData == null)
{
return(null);
}
/// <summary>
/// The RGB pixel values used for the background removal (green-screen) effect.
/// </summary>
byte[] myPixelsColorPlayer = null;
ColorSpacePoint[] _colorPointsPlayer = null;
_colorPointsPlayer = new ColorSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
myPixelsColorPlayer = new byte[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect * BYTES_PER_PIXEL];
coordinateMapper.MapDepthFrameToColorSpace(myDepthMetaData.FrameData, _colorPointsPlayer);
for (int x = 0; x < DepthMetaData.XDepthMaxKinect; ++x)
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; ++y)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
byte player = myBodyMetaData.Pixels[depthIndex];
int displayIndex = depthIndex * BYTES_PER_PIXEL;
if (player != 0xff)
{
ColorSpacePoint colorPoint = _colorPointsPlayer[depthIndex];
//int colorX = (int)Math.Floor(colorPoint.X + 0.5);
//int colorY = (int)Math.Floor(colorPoint.Y + 0.5);
//EDGAR TO DO _ player
if ((colorPoint.X >= 0) && (colorPoint.X < ColorMetaData.XColorMaxKinect) && (colorPoint.Y >= 0) && (colorPoint.Y < ColorMetaData.YColorMaxKinect))
{
int colorIndex = ((Convert.ToInt32(colorPoint.Y) * ColorMetaData.XColorMaxKinect) + Convert.ToInt32(colorPoint.X)) * BYTES_PER_PIXEL;
myPixelsColorPlayer[displayIndex + 0] = myColorMetaData.Pixels[colorIndex];
myPixelsColorPlayer[displayIndex + 1] = myColorMetaData.Pixels[colorIndex + 1];
myPixelsColorPlayer[displayIndex + 2] = myColorMetaData.Pixels[colorIndex + 2];
myPixelsColorPlayer[displayIndex + 3] = 0xff;
}
else
{
}
}
else
{
myPixelsColorPlayer[displayIndex + 3] = 0;//identify later....
}
}
}
WriteableBitmap myBitmapColorPlayer = null;
myBitmapColorPlayer = new WriteableBitmap(DepthMetaData.XDepthMaxKinect, DepthMetaData.XDepthMaxKinect, DPI, DPI, FORMAT, null);
myBitmapColorPlayer.Lock();
Marshal.Copy(myPixelsColorPlayer, 0, myBitmapColorPlayer.BackBuffer, myPixelsColorPlayer.Length);
myBitmapColorPlayer.AddDirtyRect(new Int32Rect(0, 0, DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect));
myBitmapColorPlayer.Unlock();
return(myBitmapColorPlayer);
}
public WriteableBitmap ColorBitmap2(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
if (myDepthMetaData == null || myBodyMetaData == null || myColorMetaData == null)
{
return(null);
}
this.colorArrayWithDepthInfo = new DepthSpacePoint[ColorMetaData.XColorMaxKinect * ColorMetaData.YColorMaxKinect];
coordinateMapper.MapColorFrameToDepthSpace(myDepthMetaData.FrameData, this.colorArrayWithDepthInfo);
if (colorArrayWithDepthInfo == null)
{
return(null);
}
this.colorArrayWithDepthInfo = new DepthSpacePoint[ColorMetaData.XColorMaxKinect * ColorMetaData.YColorMaxKinect];
// Loop over each row and column of the color image
// Zero out any pixels that don't correspond to a body index
myColorMetaData.WriteableBitmapColor.Lock();
unsafe
{
int colorMappedToDepthPointCount = this.colorArrayWithDepthInfo.Length;
fixed(DepthSpacePoint *colorMappedToDepthPointsPointer = this.colorArrayWithDepthInfo)
{
for (int colorIndex = 0; colorIndex < colorMappedToDepthPointCount; ++colorIndex)
{
double colorMappedToDepthX = colorMappedToDepthPointsPointer[colorIndex].X;
double colorMappedToDepthY = colorMappedToDepthPointsPointer[colorIndex].Y;
if (!double.IsNegativeInfinity(colorMappedToDepthX) &&
!double.IsNegativeInfinity(colorMappedToDepthY))
{
// Make sure the depth pixel maps to a valid point in color space
int depthX = (int)(colorMappedToDepthX + 0.5f);
int depthY = (int)(colorMappedToDepthY + 0.5f);
// If the point is not valid, there is no body index there.
if ((depthX >= 0) && (depthX < DepthMetaData.XDepthMaxKinect) && (depthY >= 0) && (depthY < DepthMetaData.YDepthMaxKinect))
{
int depthIndex = (depthY * DepthMetaData.XDepthMaxKinect) + depthX;
byte player = myBodyMetaData.Pixels[depthIndex];
if (player != 0xff)
{
continue;
}
}
}
int displayIndex = colorIndex * BYTES_PER_PIXEL;
myColorMetaData.Pixels[colorIndex + 1] = 0;
myColorMetaData.Pixels[colorIndex + 2] = 0;
myColorMetaData.Pixels[colorIndex + 3] = 0xff;
}
myColorMetaData.WriteableBitmapColor.AddDirtyRect(new Int32Rect(0, 0, myColorMetaData.WriteableBitmapColor.PixelWidth, myColorMetaData.WriteableBitmapColor.PixelHeight));
}
}
myColorMetaData.WriteableBitmapColor.Unlock();
return(myColorMetaData.WriteableBitmapColor);
//}
}
private static void SetPoint(int depthIndex, int x, int y, Vector3[,] arrV, Vector3[,] arrC, ColorSpacePoint[] mycolorPointsInDepthSpace, CameraSpacePoint[] myRealWorldPoints, ColorMetaData myColorMetaData)
{
ColorSpacePoint colorPoint = mycolorPointsInDepthSpace[depthIndex];
int xColor = Convert.ToInt32(colorPoint.X);
int yColor = Convert.ToInt32(colorPoint.Y);
int depthIndexColor = depthIndex * MetaDataBase.BYTES_PER_PIXEL;
if ((xColor >= 0) && (xColor < ColorMetaData.XColorMaxKinect) && (yColor >= 0) && (yColor < ColorMetaData.YColorMaxKinect))
{
int colorIndex = ((yColor * ColorMetaData.XColorMaxKinect) + xColor) * MetaDataBase.BYTES_PER_PIXEL;
Vector3 vect = new Vector3(myRealWorldPoints[depthIndex].X, myRealWorldPoints[depthIndex].Y, myRealWorldPoints[depthIndex].Z);
Vector3 col = new Vector3(myColorMetaData.Pixels[colorIndex + 2] / 255f, myColorMetaData.Pixels[colorIndex + 1] / 255f, myColorMetaData.Pixels[colorIndex] / 255f);
//System.Drawing.Color c = System.Drawing.Color.FromArgb(myColorMetaData.Pixels[colorIndex + 3], myColorMetaData.Pixels[colorIndex + 2], myColorMetaData.Pixels[colorIndex + 1], myColorMetaData.Pixels[colorIndex]);
//Vertex v = new Vertex(0, vect, c);
arrV[x, y] = vect;
arrC[x, y] = col;
}
}
private static PointCloud PointCloudWithColorParallel(ColorSpacePoint[] mycolorPointsInDepthSpace, CameraSpacePoint[] myRealWorldPoints, ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
Vector3[,] arrV = new Vector3[DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect];
Vector3[,] arrC = new Vector3[DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect];
try
{
System.Threading.Tasks.Parallel.For(0, DepthMetaData.XDepthMaxKinect, x =>
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; y++)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
if (myDepthMetaData.FrameData[depthIndex] != 0)
{
if (PointCloudScannerSettings.BackgroundRemoved && myBodyMetaData != null)
{
byte player = myBodyMetaData.Pixels[depthIndex];
if (player != 0xff)
{
SetPoint(depthIndex, x, y, arrV, arrC, mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData);
}
}
else
{
SetPoint(depthIndex, x, y, arrV, arrC, mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData);
}
}
}
});
//};
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine(" error in PointCloudWithColor " + err.Message);
}
List <Vector3> listV = new List <Vector3>();
List <Vector3> listC = new List <Vector3>();
for (int x = 0; x < DepthMetaData.XDepthMaxKinect; x++)
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; y++)
{
if (arrV[x, y] != Vector3.Zero)
{
listV.Add(arrV[x, y]);
listC.Add(arrC[x, y]);
}
}
}
PointCloud pc = new PointCloud(listV, listC, null, null, null, null);
if (GLSettings.ShowPointCloudAsTexture)
{
pc.TextureCreateFromColors(DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect);
}
return(pc);
}
