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June 27, 2016 03:34
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KinectのRGB-Dデータからポイントクラウドを生成してみた ref: http://qiita.com/yjiro0403/items/405e180ee5d1701d6b15
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| for (int y = 0; y < depthHeight; y += 2) | |
| { | |
| for (int x = 0; x < depthWidth; x += 2) | |
| { | |
| int depthIndex = (y * depthWidth) + x; | |
| CameraSpacePoint p = cameraSpacePoints[depthIndex]; | |
| ColorSpacePoint colorPoint = colorSpacePoints[depthIndex]; | |
| byte r = 0; | |
| byte g = 0; | |
| byte b = 0; | |
| byte a = 0; | |
| int colorX = (int)System.Math.Floor(colorPoint.X + 0.5); | |
| int colorY = (int)System.Math.Floor(colorPoint.Y + 0.5); | |
| if ((colorX >= 0) && (colorX < colorWidth) && (colorY >= 0) && (colorY < colorHeight)) | |
| { | |
| int colorIndex = ((colorY * colorWidth) + colorX) * bytesPerPixel; | |
| int displayIndex = depthIndex * bytesPerPixel; | |
| b = colorFrameData[colorIndex++]; | |
| g = colorFrameData[colorIndex++]; | |
| r = colorFrameData[colorIndex++]; | |
| a = colorFrameData[colorIndex++]; | |
| } | |
| if (!(double.IsInfinity(p.X)) && !(double.IsInfinity(p.Y)) && !(double.IsInfinity(p.Z))) | |
| { | |
| particles[particleCount].position = new Vector3(p.X*scale, p.Y*scale, p.Z*scale); | |
| particles[particleCount].startColor = new Color(r/255F,g/255F,b/255F,a/255F); | |
| particles[particleCount].startSize = size; | |
| particleCount++; | |
| } | |
| } | |
| } | |
| _particleSystem = gameObject.GetComponent<ParticleSystem>(); | |
| _particleSystem.SetParticles(particles, particles.Length); | |
| } |
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