I'm making a project in which i need to draw user's feet in a rectangle of 640*480
and i'm mapping the skeleton joints coordinate into depth coordinates to fit it in the box,
but the DepthImagePoint gives x-y coordinate and depth(in mm) but i want x-z coordinate.
How can I get the z coordinate to fit in the resolution of 640*480?
or Can i somehow convert skeleton joints coordinate to proper resolution to fit the box?
I'm using Microsoft Kinect SDK with C#.
Thanks in Advance.
There are several functions in the CoordinateMapper that will map points between the different data streams. MapSkeletonPontToDepthPoint being the first to come to mind. Others in the mapper may also assist in finding the proper depth mapping you are looking for.
http://msdn.microsoft.com/en-us/library/jj883690.aspx
Related
So the software I am using accepts 3D objects in the form of contours or .stl files. The contours I have are along the z-plane(each plane has a unique z). I have had to modify the contours for my experiment and now the contours do not have a unique z for each plane(they are now slightly angled wrt z=0 plane).
The points represent the edges of the 3D object. What would be the best way to take this collection of points and create a .stl file?
I am relatively new to working with python and 3D objects, so any help, pointers or suggestions would be much appreciated.
Edit: I have the simplices and verticies using the Delaunay(), but how do I proceed next?
The co-ordinates of all points are in this text file in the format "x y z".
So after seeking an answer for months and trying to use Meshlab and Blender I finally stumbled across the answer using numpy-stl. Hopeful that it will help others in a similar situation.
Here is the code to generate the .STL file:
from stl import mesh
num_triangles=len(fin_list)
data = np.zeros(num_triangles, dtype=mesh.Mesh.dtype)
for i in range(num_triangles):
#I did not know how to use numpy-arrays in this case. This was the major roadblock
# assign vertex co-ordinates to variables to write into mesh
data["vectors"][i] = np.array([[v1x, v1y, v1z],[v2x, v2y, v2z],[v3x, v3y, v3z]])
m=mesh.Mesh(data)
m.save('filename.stl')
The three vertices that form a triangle in the mesh go in as a vector that define the surface normal. I just collected three such vertices that form a triangle and wrote them into the mesh. Since I had a regular array of points, it was easy to collect the triangles:
for i in range(len(point_list)-1):
plane_a=[]
plane_b=[]
for j in range(len(point_list[i])-1):
tri_a=[]
tri_b=[]
#series a triangles
tri_a.append(point_list[i+1][j])
tri_a.append(point_list[i][j+1])
tri_a.append(point_list[i][j])
#series b triangles
tri_b.append(point_list[i+1][j])
tri_b.append(point_list[i+1][j+1])
tri_b.append(point_list[i][j+1])
#load to plane
plane_a.append(tri_a)
plane_b.append(tri_b)
group_a.append(plane_a)
group_b.append(plane_b)
The rules for choosing triangles for creating a mesh are as follows:
The vertices must be arranged in a counter-clock direction.
Each triangle must share two vertices with adjacent triangles.
The direction normal must point out of the surface.
There were two more rules that I did not follow but it still worked in my case:
1. All coordinates must be positive(In 1st Quadrant only)
2. All triangles must be arranged in an increasing z-order.
Note: There can be two kinds of .STL file formats: Binary and ASCII. numpy-stl writes out in the binary format. More info on STL files can be found here.
Hope this helps!
I made an object tracker that calculates the position of an object recorded in a live camera feed using stereoscopic cameras. The math was simple, once you know the camera distance and orientation. However, now I thought it would be nice to allow me to quickly extract all these parameters, so when I change my setup or cameras I will be able to quickly calibrate it again.
To calculate the object position I made some simplifications/assumptions, which made the math easier: the cameras are in the same YZ plane, so there is only a distance in x between them. Their tilt is also just in the XY plane.
To reverse the triangulation I thought a test pattern (square) of 4 points of which I know the distances to each other would suffice. Ideally I would like to get the cameras' positions (distances to test pattern and each other), their rotation in X (and maybe Y and Z if applicable/possible), as well as their view angle (to translate pixel position to real world distances - that should be a camera constant, but in case I change cameras, it is quite a bit to define accurately)
I started with the same trigonometric calculations, but always miss parameters. I am wondering if there is an existing solution or a solid approach. If I need to add parameter (like distances, they are easy enough to measure), it's no problem (my calculations didn't give me any simple equations with that possibility though).
I also read about Homography in opencv, but it seems it applies to 2D space only, or not?
Any help is appreciated!
A bit of background
I am writing a simple ray tracer in C++. I have most of the core complete but don't understand how to retrieve the world coordinate of a pixel on the image plane. I need this location so that I can cast the ray into the world.
Currently I have a Camera with a position(aka my perspective reference point), a direction (vector) which is not normalized. The directions length signifies the center of the image plane and which way the camera is facing.
There are other values associated with the camera but they should not be relevant.
My image coordinates will range from -1 to 1 and the perspective(focal length), will change based on the distance of the direction associated with the camera.
What I need help with
I need to go from pixel coordinates (say [0, 256] in an image 256 pixels on each side) to my world coordinates.
I will also want to program this so that no matter where the camera is placed and where it is directed, that I can find the pixel in the world coordinates. (Currently the camera will almost always be centered at the origin and will look down the negative z axis. I would like to program this with the future changes in mind.) It is also important to know if this code should be pushed down into my threaded code as well. Otherwise it will be calculated by the main thread and then the ray will be used in the threaded code.
(source: in.tum.de)
I did not make this image and it is only there to give an idea of what I need.
Please leave comments if you need any additional info. Otherwise I would like a simple theory/code example of what to do.
Basically you have to do the inverse process of V * MVP which transforms the point to unit cube dimensions. Look at the following urls for programming help
http://nehe.gamedev.net/article/using_gluunproject/16013/ https://sites.google.com/site/vamsikrishnav/gluunproject
I got my country lat/long boundaries from koordinates.com. Now I want to fill in the interior with dots.
Since the file I have is KML, I was thinking of converting the coordinates to cartesian using the NetTopologySuite.
I do not want a polygon overlay. I want to generate dots/coordinates for the polygons interior - ideally at a density of my choosing.
I have seen algorithms like this one, http://alienryderflex.com/polygon_fill/. Is there a library that will do this for me? Alternatively, can someone share code?
Ultimately, I will convert the dot coordinates back to lat/long and populate a globe like this one
http://code.google.com/p/webgl-globe/
I'm affraid GIS isn't my area of expertise, but I've got two ideas:
Generate a set of random points. You can use a Point-In-Polygon function to determine if you're points are in the right place.
You can use a rectangle grid of points and use a 'resolution' to determine how many points there will be and how close. You can offset the grid positions to make them look more random if you need to. You'll check if the point inside the bounding rectangle of your polygon is inside the polygon or not.
Notice that the webgl-globe example uses a grid of points(similar to point(2)) converted to spherical coordinates.
Both ideas is kind of similar, only the points distribution differs.
You can find a roughly related implementation I did using actionscript here,
but I would also suggest asking on the GIS site.
I'm using DirectX10 to simulate a water surface, and I'm now with a height map,which is a 2D array of the heights(y) at the points (x,z). But to draw it on the screen, I must turn it into a mesh or have a index to draw triangle topology.
But the data is too large to do it manually. Are there any methods for me to draw it on the screen. I hope it's easy to implement. If there is function included in DirectX10 which can make it, the it's the best one for me.
Create a mesh that format a grid of squares (each made of two triangles) and set all vertices y = 0. In the vertex shader sample the heightmap and add the value stored in the heightmap to the y of the vertice.
This might help you.
P.S: If the area you want it to cover is too big you should take a look at terrain LOD techniques (should work the same for water).
I'm sure you can make a mesh out of it. I doubt you can generate the heightmap for a water surface that is too large to "meshify".
Why are you looking at Diamond square. For a 512x512 heightmap all you need to do is define a set of point and then generate the triangles for it. Its really very simple.