C# 如何在WPF画布上精确绘制Kinect空间中的3D点？

我正在开发一个Kinect v1应用程序，希望能够检测用户相对于头部的地板位置

我想在画布上用WPF画一条线，从用户的头部开始，在地板上最靠近头部的点结束。这应该是一条完全垂直的线

不过，我对使用WPF、canvas和Kinect还不熟悉，而且我遇到了一个缩放问题，即行的结尾比Kinect提要的网格之外的地方要向下延伸得多。我之所以认为这是一个缩放问题，是因为它是完全垂直的，当我走近或远离相机时，它确实会正确地上下移动

这是此操作的代码主体：

SkeletonPoint headPos = currentSkeleton.Joints[JointType.Head].Position;
SkeletonPoint floorPoint = getSkeletonFloorPoint(headPos, floorPlane);     
CoordinateMapper mapper = new CoordinateMapper(KinectSensor);

ColorImagePoint colorHeadPoint = mapper.MapSkeletonPointToColorPoint(headPos, ColorImageFormat.RgbResolution640x480Fps30);
Point mappedHeadPoint = new Point(colorHeadPoint.X, colorHeadPoint.Y);


ColorImagePoint colorFloorPoint = mapper.MapSkeletonPointToColorPoint(floorPoint, ColorImageFormat.RgbResolution640x480Fps30);
Point mappedFloorPoint = new Point(colorFloorPoint.X, colorFloorPoint.Y);


drawUserPosition(userPos, mappedHeadPoint, mappedFloorPoint);

该方法基于头部位置计算地板点：

private SkeletonPoint getSkeletonFloorPoint(SkeletonPoint skeletonHeadPos, Tuple<float, float, float, float> floorPlane)
{
    Point3D headPos = new Point3D(skeletonHeadPos.X, skeletonHeadPos.Y, skeletonHeadPos.Z);
    Point3D pointOnPlane = new Point3D(0, (double) -(floorPlane.Item2 / floorPlane.Item4), 0);
    Vector3D planeNorm = new Vector3D(floorPlane.Item1, floorPlane.Item2, floorPlane.Item3);
    Vector3D planeToHead = Point3D.Subtract(headPos, pointOnPlane);

    double dist = Vector3D.DotProduct(planeNorm, planeToHead);
    Point3D floorPoint = Vector3D.Add(Vector3D.Multiply(-dist, planeNorm), headPos);

    SkeletonPoint skeletonFloorPoint = new SkeletonPoint();
    skeletonFloorPoint.X = (float) floorPoint.X;
    skeletonFloorPoint.Y = (float) floorPoint.Y;
    skeletonFloorPoint.Z = (float) floorPoint.Z;

    return skeletonFloorPoint;
}

private void drawUserPosition(Line userPos, Point headPoint, Point floorPoint)
{
    userPos.X1 = headPoint.X;
    userPos.Y1 = headPoint.Y;
    userPos.X2 = floorPoint.X;
    userPos.Y2 = floorPoint.Y;

}

这是画布的XAML：

<Canvas>
    <kt:KinectSkeletonViewer 
        KinectSensorManager="{Binding KinectSensorManager}"
        Visibility="{Binding KinectSensorManager.ColorStreamEnabled, Converter={StaticResource BoolToVisibilityConverter}}"
        Width="{Binding ElementName=ColorViewer,Path=ActualWidth}"
        Height="{Binding ElementName=ColorViewer,Path=ActualHeight}"
        ImageType="Color" />

    <Line X1="0" Y1="0" X2="0" Y2="0" Name="userPos" Stroke="Red" StrokeThickness="2" />

</Canvas>

正如我所说的，我认为几何结构是正确的，我只是没有任何WPF的经验，所以我相当肯定这就是我出错的地方

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感谢您的帮助，如果有任何细节我可以提供给您，使之更容易解决，我将很乐意提供。

对不起，我犯了一个愚蠢的错误

在尝试查找楼层平面上的任意点时，我意外地翻转了分区中的两个值：

Point3D pointOnPlane = new Point3D(0, (double) -(floorPlane.Item2 / floorPlane.Item4), 0);

这是正确的代码：

Point3D pointOnPlane = new Point3D(0, (double) -(floorPlane.Item4 / floorPlane.Item2), 0);