c# – 使用wpf 3D图形将3D模型显示为3D网格对象

1)我从kinect获取深度数据并将其赋予一个计算3d点的函数.

private void display3DView()

{ 
   while(loop_run)
    {
       using ( DepthImageFrame depthFrame = sensor.DepthStream.OpenNextFrame(1000))
      {
             if (depthFrame  == null)  continue;

            Point3DCollection PointCloud ;

            depthFrame.CopyDepthImagePixelDataTo(this.depthImagePixels);

            float[,] ImageArray = new float[320,240];

            short [,] depth = new short[240,320]; 

            for (int i = 0; i < 240; i++)
            {
              for (int j = 0; j <320; j++)
              {
                depth[i,j]= depthImagePixels[j+i *320].Depth;

                 ImageArray[i,j] =(float)depth[i,j]/(float)1000;
             }
           }
          PointCloud =Calculate_PointCloud(ImageArray); 

          viewModel(PointCloud);   
        }
      }
     }</i>

2)我用Kinect Camera的摄像机参数和深度数据计算了3D点

??

private Point3DCollection Calculate_PointCloud(float [,] ImageArray)
???{

Point3DCollection PointCloud = new Point3DCollection();

    float x_coodinate;``
    float y_coordinate;
    float z_coordinate;
    float thresholdvalue = 2.0f;

    for (int i = 0; i < 239; ++i)
    {
        for (int j = 0; j < 319; ++j)
        {
            if (Math.Abs(ImageArray[i,j] - ImageArray[i,j + 1]) < thresholdvalue && Math.Abs(ImageArray[i,j] - ImageArray[i + 1,j]) < thresholdvalue && Math.Abs(ImageArray[i,j + 1] - ImageArray[i + 1,j]) < thresholdvalue)
            {

                z_coordinate = ImageArray[i,j];
                x_coodinate = ((j - this.PrincipalPointX) * z_coordinate) / FocalLengthX;
                y_coordinate = ((i - this.PrincipalPointY) * z_coordinate) / FocalLengthY;
                Point3D point1 = new Point3D(x_coodinate,y_coordinate,z_coordinate);
                PointCloud.Add(point1);

                z_coordinate = ImageArray[i,j + 1];
                x_coodinate = (((j + 1) - this.PrincipalPointX) * z_coordinate) / FocalLengthX;
                y_coordinate = ((i - this.PrincipalPointY) * z_coordinate) / FocalLengthY;
                Point3D point2 = new Point3D(x_coodinate,z_coordinate);
                PointCloud.Add(point2);

                z_coordinate = ImageArray[i + 1,j];
                x_coodinate = ((j - this.PrincipalPointX) * z_coordinate) / FocalLengthX;
                y_coordinate = (((i + 1) - this.PrincipalPointY) * z_coordinate) / FocalLengthY;
                Point3D point3 = new Point3D(x_coodinate,z_coordinate);
                PointCloud.Add(point3);

              }
            }
        }
    return PointCloud;
}</i>

3)在这里,我转换为具有每个3D点的法线信息的三角形集合,并将这些三角形给予3D网格对象并使用viewport3D控件渲染3d网格对象

?????????private void viewModel(Point3DCollection points)

{    
           DirectionalLight DirLight1 = new DirectionalLight();
            DirLight1.Color = Colors.White;
            DirLight1.Direction = new Vector3D(1,1,1);
           PerspectiveCamera Camera1 = new PerspectiveCamera();
           Camera1.FarPlaneDistance = 8000;
          Camera1.NearPlaneDistance = 100;
          Camera1.FieldOfView = 10;
          Camera1.Position = new Point3D(0,1);
          Camera1.LookDirection = new Vector3D(-1,-1,-1);
          Camera1.UpDirection = new Vector3D(0,0);
           bool combinedvertices = true;
          TriangleModel Triatomesh = new TriangleModel();
          MeshGeometry3D tmesh = new MeshGeometry3D();
          GeometryModel3D msheet = new GeometryModel3D();
          Model3DGroup modelGroup = new Model3DGroup();
          ModelVisual3D modelsVisual = new ModelVisual3D();
          Viewport3D myViewport = new Viewport3D();

         for(int i =0; i<points.Count; i+=3)
        {
            Triatomesh.addTriangleToMesh(points[i],points[i + 1],points[i + 2],tmesh,combinedvertices); 
        }
        msheet.Geometry = tmesh;
       msheet.Material = new DiffuseMaterial(new SolidColorBrush(Colors.White));
       modelGroup.Children.Add(msheet);
       modelGroup.Children.Add(DirLight1);
       modelsVisual.Content = modelGroup;
       myViewport.IsHitTestVisible = false;
      myViewport.Camera = Camera1;
       myViewport.Children.Add(modelsVisual);
       canvas1.Children.Add(myViewport);
       myViewport.Height = canvas1.Height;
       myViewport.Width = canvas1.Width;
       Canvas.SetTop(myViewport,0);
       Canvas.SetLeft(myViewport,0);
 } </i>

4)这是一个函数,它通过计算每个3D点的法线来获取三个3D点并将三维网格对象添加为三角形

public  void addTriangleToMesh(Point3D p0,Point3D p1,Point3D p2,MeshGeometry3D mesh,bool combine_vertices)  

    {
        Vector3D normal = CalculateNormal(p0,p1,p2);

        if (combine_vertices)
        {
            addPointCombined(p0,mesh,normal);
            addPointCombined(p1,normal);
            addPointCombined(p2,normal);
        }
        else
        {
            mesh.Positions.Add(p0);
            mesh.Positions.Add(p1);
            mesh.Positions.Add(p2);
              //mesh.TriangleIndices.Add(mesh.TriangleIndices.Count);
           // mesh.TriangleIndices.Add(mesh.TriangleIndices.Count);
           // mesh.TriangleIndices.Add(mesh.TriangleIndices.Count);
            mesh.Normals.Add(normal);
            mesh.Normals.Add(normal);
            mesh.Normals.Add(normal);
        }
    }

public  Vector3D CalculateNormal(Point3D P0,Point3D P1,Point3D P2)   //static
    {
        Vector3D v0 = new Vector3D(P1.X - P0.X,P1.Y - P0.Y,P1.Z - P0.Z);

        Vector3D v1 = new Vector3D(P2.X - P1.X,P2.Y - P1.Y,P2.Z - P1.Z);

        return Vector3D.CrossProduct(v0,v1);
    }

 public  void addPointCombined(Point3D point,Vector3D normal)  

    {
        bool found = false;
        int i = 0;
        foreach (Point3D p in mesh.Positions)

        {
            if (p.Equals(point))
            {
                found = true;
                mesh.TriangleIndices.Add(i);
                mesh.Positions.Add(point);
                mesh.Normals.Add(normal);
                break;
            }

            i++;
        }

        if (!found)
        {
            mesh.Positions.Add(point);
            mesh.TriangleIndices.Add(mesh.TriangleIndices.Count);
            mesh.Normals.Add(normal);
        }
}

5)这是我的XAML代码

<Window x:Class="PointCloud3DView.MainWindow"

    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"

    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"

    Title="PointCloud" Height="653" Width="993" Background="Black" Loaded="Window_Loaded">

<Grid Height="1130" Width="1626">

    <Canvas Height="611" HorizontalAlignment="Left" Name="canvas1" VerticalAlignment="Top"

宽度=“967”背景=“黑色”/>

</Grid>

问题是我无法在Wpf Screen中显示3D模型.请问任何人都可以浏览整个代码吗？并让我明白我哪里出错了？并建议我纠正.
提前致谢