// transforms a point from one space to another
protected override Vector3 TransformPoint(KinectInterop.CameraExtrinsics extr, Vector3 point)
{
float toPointX = extr.rotation[0] * point.x + extr.rotation[1] * point.y + extr.rotation[2] * point.z + extr.translation[0];
float toPointY = extr.rotation[3] * point.x + extr.rotation[4] * point.y + extr.rotation[5] * point.z + extr.translation[1];
float toPointZ = extr.rotation[6] * point.x + extr.rotation[7] * point.y + extr.rotation[8] * point.z + extr.translation[2];
return(new Vector3(toPointX, toPointY, toPointZ));
}
// gets the given camera extrinsics
private void GetCameraExtrinsics(Extrinsics camExtr, ref KinectInterop.CameraExtrinsics extr)
{
extr = new KinectInterop.CameraExtrinsics();
extr.rotation = new float[camExtr.Rotation.Length];
camExtr.Rotation.CopyTo(extr.rotation, 0);
extr.translation = new float[camExtr.Translation.Length];
camExtr.Translation.CopyTo(extr.translation, 0);
}
// transforms a point from one space to another
protected virtual Vector3 TransformPoint(KinectInterop.CameraExtrinsics extr, Vector3 point)
{
return(Vector3.zero);
}
