/// <summary>
/// Generates the point cloud
/// </summary>
/// <param name="df">The Depth Frame from the Kinect sensor</param>
/// <param name="bif">The Body Index Frame from the Kinect sensor</param>
/// <returns>The PointCloud generated from the frames</returns>
public PointCloud generate(DepthFrame df, BodyIndexFrame bif)
{
Log.Write("Creating point Cloud");
/*
* used to calculate centroid, as well as lowest x value for later on ->
* saves us looping later, though PointCloud methods do allow you to do that
*/
double xAccumulator = 0.0, yAccumulator = 0.0, zAccumulator = 0.0, xMean = 0.0, yMean = 0.0, zMean = 0.0, xMinimum = (1 / 0.0);
int depthFrameWidth = df.FrameDescription.Width;
int depthFrameHeight = df.FrameDescription.Height;
this.depthFrameData = new ushort[depthFrameWidth * depthFrameHeight];
this.bodyIndexFrameData = new byte[depthFrameWidth * depthFrameHeight];
this.cameraPoints = new CameraSpacePoint[depthFrameWidth * depthFrameHeight];
df.CopyFrameDataToArray(depthFrameData);
bif.CopyFrameDataToArray(bodyIndexFrameData);
coordinateMapper.MapDepthFrameToCameraSpace(depthFrameData, cameraPoints);
// Create new point cloud for storing points and operating on later
PointCloud pointCloud = new PointCloud();
int numberOfPoints = 0;
// loop over each row and column of the depth
for (int y = 0; y < depthFrameHeight; y++)
{
for (int x = 0; x < depthFrameWidth; x++)
{
// calculate index into depth array
int depthIndex = (y * depthFrameWidth) + x;
byte humanPoint = bodyIndexFrameData[depthIndex];
if (humanPoint == 0xff) // Check if human point empty
{
continue;
}
CameraSpacePoint p = this.cameraPoints[depthIndex];
if (!(Double.IsInfinity(p.X)) && !(Double.IsInfinity(p.Y)) && !(Double.IsInfinity(p.Z)))
{
if (p.X < depthLimit && p.Y < depthLimit && p.Z < depthLimit)
{
Point3D scaledPoint = new Point3D(p.X * unitScale, p.Y * unitScale, p.Z * unitScale);
pointCloud.addPoint(scaledPoint);
xAccumulator += scaledPoint.X;
yAccumulator += scaledPoint.Y;
zAccumulator += scaledPoint.Z;
numberOfPoints++;
if (scaledPoint.X < xMinimum)
{
xMinimum = scaledPoint.X;
}
}
}
} // end of for(int x..) loop over points
} // end of for(int y..) loop over points
xMean = xAccumulator / numberOfPoints;
yMean = yAccumulator / numberOfPoints;
zMean = zAccumulator / numberOfPoints;
// centroid calculated on the fly so we don't have to loop again unnecessarily
Point3D centroid = new Point3D(xMean, yMean, zMean);
pointCloud.subtractFromPointAxis(xMinimum, 0);
pointCloud.rotateOnSpot(180, PointCloud.Axis.Y, centroid);
Log.Write("Finished calculating point cloud");
return(pointCloud);
}
