umrechnungsfehler gefunden, Pointcloud läuft, Mesh needs help

VR Raumrekonstuktion/Assets/Mine/RoomScanner.unity

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@@ -264,6 +392,7 @@ MonoBehaviour:
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   maxDistance: 100
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VR Raumrekonstuktion/Assets/Mine/Scripts/PointCloudAggregator.cs

@@ -4,7 +4,8 @@ using Windows.Kinect;
 
 
 public class PointCloudAggregator : MonoBehaviour {
-
+	int minY = 0;
+	int maxY = 0;
 	public float accuracy = 1000f;
 	public float maxDistance = 15f;
 
@@ -24,12 +25,9 @@ public class PointCloudAggregator : MonoBehaviour {
 	private CameraSpacePoint[] cameraSpacePoints;
 
 	private ColorSpacePoint[] colorSpacePoints;
-	private Texture2D cameraTexture;
+	public Texture2D cameraTexture;
 	private Color[] cameraColor;
 
-	private Vector2 maxVals;
-	private Vector2 minVals;
-
 	Dictionary<Vector2Int, ColorHeight> data = new Dictionary<Vector2Int, ColorHeight>();
 
 	Dictionary<Vector3, Color> data2 = new Dictionary<Vector3, Color>();
@@ -82,46 +80,50 @@ public class PointCloudAggregator : MonoBehaviour {
 
 			cameraColor = new Color[depthWidth * depthHeight];
 		}
-		maxVals = Vector2.negativeInfinity;
-		minVals = Vector2.positiveInfinity;
 	}
 	
 	// Update is called once per frame
 	void Update () {
+		
 		if (Input.GetKeyDown(KeyCode.Space))
 		{
 			Debug.Log("Snapshot");
-			NewSnapshot(true);
+			NewSnapshot();
 			Debug.Log("Data set not has: " + data.Count + " entries");
 		}
-        if (Input.GetKeyDown(KeyCode.Y))
-        {
-            Debug.Log("Snapshot");
-            NewSnapshot(false);
-            Debug.Log("Data set not has: " + data.Count + " entries");
-        }
-
-        if (Input.GetKeyDown(KeyCode.C))
+
+
+		if (Input.GetKeyDown(KeyCode.C))
 		{
 			Debug.Log("Cloud!");
 			Debug.Log(data.Count);
 			ShowAsPointCloud();
 		}
 
-        if (Input.GetKeyDown(KeyCode.A))
-        {
-            Debug.Log("Cloud2!");
-            Debug.Log(data.Count);
-            ShowAsPointCloud2();
-        }
-    }
+		if (Input.GetKeyDown(KeyCode.A))
+		{
+			Debug.Log("Cloud2!");
+			Debug.Log(data.Count);
+			ShowAsPointCloud2();
+		}
+
+		if (Input.GetKeyDown(KeyCode.R))
+		{
+			Debug.Log("Cleared!");
+			data = new Dictionary<Vector2Int, ColorHeight>();
+			data2 = new Dictionary<Vector3, Color>();
+		}
+	}
 
-	void NewSnapshot(bool normal)
+	void NewSnapshot()
 	{
 		Vector3 currentPoint;
 		Vector2Int floorPosition;
 		ushort[] rawdata = _MultiManager.GetDepthData();
 
+		Color? tempCol;
+		Color validCol;
+
 		cameraTexture = _MultiManager.GetColorTexture();
 		_Mapper.MapDepthFrameToCameraSpace(rawdata, cameraSpacePoints);
 		_Mapper.MapDepthFrameToColorSpace(rawdata, colorSpacePoints);
@@ -129,7 +131,9 @@ public class PointCloudAggregator : MonoBehaviour {
 		{
 			
 			currentPoint = KinectPointToVector3(cameraSpacePoints[i]);
-			currentPoint = transform.InverseTransformPoint(currentPoint);
+			currentPoint = transform.TransformPoint(currentPoint);
+
+			
 
 			float x = (Mathf.Clamp(currentPoint.x, -maxDistance, maxDistance ));
 			float y = (Mathf.Clamp(currentPoint.z, -maxDistance, maxDistance ));
@@ -145,32 +149,35 @@ public class PointCloudAggregator : MonoBehaviour {
 			{
 				continue;
 			}
-            
+			
 			floorPosition = new Vector2Int(Mathf.RoundToInt(x),Mathf.RoundToInt(y));
 
-			minVals = Vector2.Min(floorPosition, minVals);
-			maxVals = Vector2.Max(floorPosition, maxVals);
-            if (!normal)
-            {
-                data2[currentPoint] = GetColorAtIndex(i);
-            }
-            else
-            {
-
-                if (data.ContainsKey(floorPosition))
-                {
-                    ColorHeight values = data[floorPosition];
-                    values.UpdateInfo(currentPoint.y, GetColorAtIndex(i));
-                    data[floorPosition] = values;
-                }
-                else
-                {
-
-                    data[floorPosition] = new ColorHeight(currentPoint.y, GetColorAtIndex(i));
-                }
-            }
-		}
+			tempCol = GetColorAtIndex(i);
+
+			if (tempCol == null)
+			{
+				continue;
+			}
+			else {
+				validCol = (Color)tempCol;
+			}
+			data2[currentPoint] = validCol;
+
 
+			if (data.ContainsKey(floorPosition))
+			{
+				ColorHeight values = data[floorPosition];
+				values.UpdateInfo(currentPoint.y, validCol);
+				data[floorPosition] = values;
+			}
+			else
+			{
+
+				data[floorPosition] = new ColorHeight(currentPoint.y, validCol);
+			}
+			
+		}
+	   
 	}
 
 	Vector3 KinectPointToVector3(CameraSpacePoint point)
@@ -178,9 +185,22 @@ public class PointCloudAggregator : MonoBehaviour {
 		return new Vector3(point.X, point.Y, point.Z);
 	}
 
-	Color GetColorAtIndex(int index)
+	Color? GetColorAtIndex(int index)
 	{
-		Color result = cameraTexture.GetPixel(Mathf.RoundToInt(colorSpacePoints[index].X), Mathf.RoundToInt(colorSpacePoints[index].Y));
+		int x = Mathf.RoundToInt(colorSpacePoints[index].X);
+		int y = Mathf.RoundToInt(colorSpacePoints[index].Y);
+
+	  
+
+		
+		if(y < 0 || y > cameraTexture.height)
+		{
+			return null;
+		}
+
+		
+
+		Color result = cameraTexture.GetPixel(x,y);
 		return result;
 	}
 
@@ -203,19 +223,19 @@ public class PointCloudAggregator : MonoBehaviour {
 	}
 
 
-    void ShowAsPointCloud2()
-    {
-        particles = new ParticleSystem.Particle[data2.Count];
-
-        int i = 0;
-        foreach (Vector3 pos in data2.Keys)
-        {
-            particles[i].position = pos;
-            particles[i].startColor = data2[pos];
-            particles[i].startSize = 0.02f;
-            i++;
-        }
-        _particleSystem.SetParticles(particles, particles.Length);
-    }
+	void ShowAsPointCloud2()
+	{
+		particles = new ParticleSystem.Particle[data2.Count];
+
+		int i = 0;
+		foreach (Vector3 pos in data2.Keys)
+		{
+			particles[i].position = pos;
+			particles[i].startColor = data2[pos];
+			particles[i].startSize = 0.02f;
+			i++;
+		}
+		_particleSystem.SetParticles(particles, particles.Length);
+	}
 
 }