/// <summary>
/// Get an enumerator of the colored points from Kinect. This function can only be called after the Grab() function.
/// </summary>
/// <param name="mask">The mask that controls which points should be returned. You can use the result from RetrieveValidDepthMap() function. Use null if you want all points to be returned</param>
/// <returns>An enumerator of the colored points from Kinect</returns>
public ColorPoint[] GetColorPoints(Image <Gray, Byte> mask)
{
using (VectorOfColorPoint vcp = new VectorOfColorPoint())
{
CvInvoke.OpenniGetColorPoints(Ptr, vcp, mask);
return(vcp.ToArray());
}
/*
* MCvPoint3D32f[] positions = RetrievePointCloudMap();
* if (positions == null)
* yield break;
*
* using (Image<Bgr, Byte> image = RetrieveBgrFrame())
* using (Image<Gray, Byte> validDepthMap = RetrieveValidDepthMap())
* {
* int imageWidth = image.Width;
* int imageHeight = image.Height;
* Byte[] mask = validDepthMap.Bytes;
*
* int i = 0;
* for (int h = 0; h < imageHeight; h++)
* for (int w = 0; w < imageWidth; w++, i++)
* if (mask[i] != 0)
* {
* ColorPoint cp = new ColorPoint();
* cp.Color = new Bgr(image.Data[h, w, 0], image.Data[h, w, 1], image.Data[h, w, 2]);
* cp.Position = positions[i];
* yield return cp;
* }
* }*/
}
/// <summary>
/// Get an enumerator of the colored points from Kinect. This function can only be called after the Grab() function.
/// </summary>
/// <param name="mask">The mask that controls which points should be returned. You can use the result from RetrieveValidDepthMap() function. Use null if you want all points to be returned</param>
/// <returns>An enumerator of the colored points from Kinect</returns>
public ColorPoint[] GetColorPoints(Image<Gray, Byte> mask)
{
using (VectorOfColorPoint vcp = new VectorOfColorPoint())
{
CvInvoke.OpenniGetColorPoints(Ptr, vcp, mask);
return vcp.ToArray();
}
/*
MCvPoint3D32f[] positions = RetrievePointCloudMap();
if (positions == null)
yield break;
using (Image<Bgr, Byte> image = RetrieveBgrFrame())
using (Image<Gray, Byte> validDepthMap = RetrieveValidDepthMap())
{
int imageWidth = image.Width;
int imageHeight = image.Height;
Byte[] mask = validDepthMap.Bytes;
int i = 0;
for (int h = 0; h < imageHeight; h++)
for (int w = 0; w < imageWidth; w++, i++)
if (mask[i] != 0)
{
ColorPoint cp = new ColorPoint();
cp.Color = new Bgr(image.Data[h, w, 0], image.Data[h, w, 1], image.Data[h, w, 2]);
cp.Position = positions[i];
yield return cp;
}
}*/
}
