问题描述
我已经使用librealsense中的代码制作了点云：
var points = pc.Process(depthFrame).As<Points>();
//float depth = depthFrame.Getdistance(x,y);
//bBox = (287,23,86,320);
// We colorize the depth frame for visualization purposes
var colorizedDepth = colorizer.Process<VideoFrame>(depthFrame).disposeWith(frames);
//var org = Cv2.ImRead(colorFrame);
// copyVertices is extensible,any of these will do:
//var vertices = new float[points.Count * 3];
var vertices = new Intel.RealSense.Math.Vertex[points.Count];
// var vertices = new UnityEngine.Vector3[points.Count];
// var vertices = new System.Numerics.Vector3[points.Count]; // SIMD
// var vertices = new GlmSharp.vec3[points.Count];
//var vertices = new byte[points.Count * 3 * sizeof(float)];
points.copyVertices(vertices);
而且我已经将点云从Media3D转换为Point3DCollection：
Point3DCollection pointss = new Point3DCollection();
foreach (var vertex in vertices)
{
var point3D = new Point3D(vertex.x,vertex.y,vertex.z);
pointss.Add(point3D);
}
<h:HelixViewport3D Grid.ColumnSpan="1" Grid.Column="1" Margin="2.4,1,-0.4" >
<h:DefaultLights/>
<h:PointsVisual3D Points="{Binding pointss}" Color="Red" Size ="2"/>
</h:HelixViewport3D>
但是我看不到我的观点。我的代码有问题吗？ 我现在正在使用的代码如下所示。我已经添加了答案中给出的内容，但是我没有在对象的示例上设置错误对象引用。我正在使用的代码如下：
namespace Intel.RealSense
{
/// <summary>
/// Interaction logic for Window.xaml
/// </summary>
public partial class CaptureWindow : System.Windows.Window
{
private Pipeline pipeline;
private Colorizer colorizer;
private CancellationTokenSource tokenSource = new CancellationTokenSource();
private Pipeline pipe = new Pipeline();
private PointCloud pc = new PointCloud();
private ThresholdFilter threshold;
private Point3DCollection _pointss;
public Point3DCollection pointss
{
get => _pointss;
set
{
if (_pointss == value)
return;
_pointss = value;
OnPropertyChanged();
}
}
public event PropertyChangedEventHandler PropertyChanged;
protected virtual void OnPropertyChanged(string propertyName = null)
{
PropertyChanged?.Invoke(this,new PropertyChangedEventArgs(propertyName));
}
//static CvTrackbar Track;
//static OpenCvSharp.Point[][] contours;
//static HierarchyIndex[] hierarchy;
static Action<VideoFrame> UpdateImage(Image img)
{
var wbmp = img.source as WriteableBitmap;
return new Action<VideoFrame>(frame =>
{
var rect = new Int32Rect(0,frame.Width,frame.Height);
wbmp.WritePixels(rect,frame.Data,frame.Stride * frame.Height,frame.Stride);
});
}
public CaptureWindow()
{
InitializeComponent();
ModelImporter import = new ModelImporter();
try
{
Action<VideoFrame> updateDepth;
Action<VideoFrame> updateColor;
// The colorizer processing block will be used to visualize the depth frames.
colorizer = new Colorizer();
// Create and config the pipeline to strem color and depth frames.
pipeline = new Pipeline();
var cfg = new Config();
cfg.EnableStream(Stream.Depth,640,480);
cfg.EnableStream(Stream.Color,Format.Rgb8);
var pp = pipeline.Start(cfg);
PipelineProfile selection = pp;
var depth_stream = selection.GetStream<VideoStreamProfile>(Stream.Depth);
Intrinsics i = depth_stream.GetIntrinsics();
float[] fov = i.FOV;
SetupWindow(pp,out updateDepth,out updateColor);
Task.Factory.StartNew(() =>
{
while (!tokenSource.Token.IsCancellationRequested)
{
threshold = new ThresholdFilter();
threshold.Options[Option.Mindistance].Value = 0.0F;
threshold.Options[Option.Maxdistance].Value = 0.1F;
using (var releaser = new FramesReleaser())
{
using (var frames = pipeline.WaitForFrames().disposeWith(releaser))
{
var pframes = frames
.ApplyFilter(threshold).disposeWith(releaser);
}
}
// We wait for the next available FrameSet and using it as a releaser object that would track
// all newly allocated .NET frames,and ensure deterministic finalization
// at the end of scope.
using (var frames = pipeline.WaitForFrames())
{
var colorFrame = frames.ColorFrame.disposeWith(frames);
var depthFrame = frames.DepthFrame.disposeWith(frames);
var points = pc.Process(depthFrame).As<Points>();
//float depth = depthFrame.Getdistance(x,y);
//bBox = (287,320);
// We colorize the depth frame for visualization purposes
var colorizedDepth = colorizer.Process<VideoFrame>(depthFrame).disposeWith(frames);
//var org = Cv2.ImRead(colorFrame);
// copyVertices is extensible,any of these will do:
//var vertices = new float[points.Count * 3];
var vertices = new Intel.RealSense.Math.Vertex[points.Count];
// var vertices = new UnityEngine.Vector3[points.Count];
// var vertices = new System.Numerics.Vector3[points.Count]; // SIMD
// var vertices = new GlmSharp.vec3[points.Count];
//var vertices = new byte[points.Count * 3 * sizeof(float)];
points.copyVertices(vertices);
//Point3DCollection pointss = new Point3DCollection();
foreach (var vertex in vertices)
{
var point3D = new Point3D(vertex.x,vertex.z);
pointss.Add(point3D);
}
// Render the frames.
dispatcher.Invoke(dispatcherPriority.Render,updateDepth,colorizedDepth);
dispatcher.Invoke(dispatcherPriority.Render,updateColor,colorFrame);
dispatcher.Invoke(new Action(() =>
{
String depth_dev_sn = depthFrame.Sensor.Info[CameraInfo.SerialNumber];
txtTimeStamp.Text = depth_dev_sn + " : " + String.Format("{0,-20:0.00}",depthFrame.Timestamp) + "(" + depthFrame.TimestampDomain.ToString() + ")";
}));
//HelixToolkit.Wpf.
}
}
},tokenSource.Token);
}
catch (Exception ex)
{
System.Windows.MessageBox.Show(ex.Message);
System.Windows.Application.Current.Shutdown();
}
}
private void control_Closing(object sender,System.ComponentModel.CancelEventArgs e)
{
tokenSource.Cancel();
}
private void SetupWindow(PipelineProfile pipelineProfile,out Action<VideoFrame> depth,out Action<VideoFrame> color)
{
using (var p = pipelineProfile.GetStream(Stream.Depth).As<VideoStreamProfile>())
imgDepth.source = new WriteableBitmap(p.Width,p.Height,96d,PixelFormats.Rgb24,null);
depth = UpdateImage(imgDepth);
using (var p = pipelineProfile.GetStream(Stream.Color).As<VideoStreamProfile>())
imgColor.source = new WriteableBitmap(p.Width,null);
color = UpdateImage(imgColor);
}
}
解决方法
您只能绑定到公共属性，而不能绑定到字段，因此必须这样定义：
public Point3DCollection pointss { get; } = new Point3DCollection();
如果要在运行时重新分配集合，还应该实现INotifyPropertyChanged，否则分配新集合将不会触发绑定更新，并且更改也不会反映在UI中。
public class YourViewModel : INotifyPropertyChanged
{
private Point3DCollection _pointss;
public Point3DCollection pointss
{
get => _pointss;
set
{
if (_points == value)
return;
_points = value;
OnPropertyChanged();
}
}
public event PropertyChangedEventHandler PropertyChanged;
protected virtual void OnPropertyChanged(string propertyName = null)
{
PropertyChanged?.Invoke(this,new PropertyChangedEventArgs(propertyName));
}
}