public void ConvertKinectToRealWorld(IKinectToRealWorldStrategy kinectToRealWorldStrategy)
{
var kinectPoints = beamerToKinect.Values.ToList();
var newPoints = kinectToRealWorldStrategy.TransformKinectToRealWorld(kinect, kinectPoints);
foreach (var element in newPoints)
{
kinectToRealWorld.Add(element.Key, element.Value);
}
}
public void ConvertKinectToRealWorld(IKinectToRealWorldStrategy kinectToRealWorldStrategy, List<KinectPoint> kinectPoints)
{
var newPoints = kinectToRealWorldStrategy.TransformKinectToRealWorld(kinect, kinectPoints);
foreach (var element in newPoints)
{
var point = new Point();
point.Name = "ObstacleCentroid";
point.KinectPoint = element.Key;
point.RealWorldPoint = element.Value;
Calibration.Points.Add(point);
}
}
public byte[] CompareZCalcStrategies(IKinectToRealWorldStrategy kinectToRealWorldStrategy)
{
var kinectPoints = kinect.CreateKinectPointArray();
var kinectPointsList = new List<KinectPoint>();
for (int y = 0; y < Kinect.Kinect.KINECT_IMAGE_HEIGHT; ++y)
{
for (int x = 0; x < Kinect.Kinect.KINECT_IMAGE_WIDTH; ++x)
kinectPointsList.Add(kinectPoints[x, y]);
}
var dictPoints = kinectToRealWorldStrategy.TransformKinectToRealWorld(kinect, kinectPointsList);
var diffPoints = new KinectPoint[Kinect.Kinect.KINECT_IMAGE_WIDTH, Kinect.Kinect.KINECT_IMAGE_HEIGHT];
var differences = new List<int>();
foreach (var p in dictPoints)
{
differences.Add(p.Key.Z - p.Value.Z);
}
differences.Sort();
var maxDiff = differences.Max();
var minDiff = differences.Min();
var rangeDiff = maxDiff - minDiff;
var r = 0x80;
var g = 0x80;
var b = 0x80;
foreach (var p in dictPoints)
{
int diff = p.Key.Z - p.Value.Z;
//diff positiv --> gegen weiss, diff negativ --> gegen schwarz
if (diff == 0)
{
r = 0x00;
b = 0x00;
g = 0xFF;
}
else
{
r = 0x80 + (int)(diff * 127.0 / rangeDiff);
g = 0x80 + (int)(diff * 127.0 / rangeDiff);
b = 0x80 + (int)(diff * 127.0 / rangeDiff);
}
diffPoints[p.Key.X, p.Key.Y] = new KinectPoint(p.Key.X, p.Key.Y, diff, r, g, b);
}
var edgepoints = Calibration.GetEdgePoints();
foreach (var edgepoint in edgepoints)
{
var x = edgepoint.KinectPoint.X;
var y = edgepoint.KinectPoint.Y;
diffPoints[x, y] = new KinectPoint(x, y, 0x00, 0x00, 0xFF);
}
return kinect.ConvertKinectPointArrayToByteArray(diffPoints, Kinect.Kinect.KINECT_IMAGE_WIDTH, Kinect.Kinect.KINECT_IMAGE_HEIGHT);
}
