public static void SetWorkspaceCloudRealVerticesAndCenter(Workspace workspace, FrameSize depthFrameSize)
{
dataStore = DataStore.Instance;
KinectClient client = dataStore.GetClientForWorkspace(workspace.ID);
double sumX = 0;
double sumY = 0;
double sumZ = 0;
double numberOfPoints = 0;
Point[] workspaceVertices = {
new Point(workspace.Vertices[0].X, workspace.Vertices[0].Y),
new Point(workspace.Vertices[1].X, workspace.Vertices[1].Y),
new Point(workspace.Vertices[2].X, workspace.Vertices[2].Y),
new Point(workspace.Vertices[3].X, workspace.Vertices[3].Y),
};
List<Point3D> pointCloud = new List<Point3D>();
NullablePoint3D[] clientPointCloud = dataStore.GetPointCloudForClient(client);
for (int i = 0; i < clientPointCloud.Count(); i++)
{
if (GeometryHelper.InsidePolygon(workspaceVertices, new Point(i%depthFrameSize.Width, i/depthFrameSize.Width)))
{
NullablePoint3D point = clientPointCloud[i];
if (point != null)
{
double x = point.X;
double y = point.Y;
double z = point.Z;
sumX += x;
sumY += y;
sumZ += z;
numberOfPoints += 1;
pointCloud.Add(new Point3D(point.X, point.Y, point.Z));
}
}
}
workspace.Center = new Point3D(sumX / numberOfPoints, sumY / numberOfPoints, sumZ / numberOfPoints);
workspace.PointCloud = pointCloud.ToArray();
SetRealVertices(workspace);
}
private void kinectServer_DepthDataArrived(KinectDemoMessage message, KinectClient client)
{
depthFrameSize = ((DepthStreamMessage)message).DepthFrameSize;
serverMessageProcessor.DepthMessageArrived -= kinectServer_DepthDataArrived;
}
private void ProcessDepthStreamMessage(object obj, KinectClient sender)
{
if (DepthMessageArrived != null)
{
DepthMessageArrived((DepthStreamMessage)obj, sender);
if (depthFrameSize == null)
{
depthFrameSize = ((DepthStreamMessage)obj).DepthFrameSize;
}
}
}