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C++ xn::DepthMetaData类代码示例

原作者: [db:作者] 来自: [db:来源] 收藏 邀请

本文整理汇总了C++中xn::DepthMetaData类的典型用法代码示例。如果您正苦于以下问题：C++ DepthMetaData类的具体用法？C++ DepthMetaData怎么用？C++ DepthMetaData使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。



在下文中一共展示了DepthMetaData类的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: getDepthHistgram

// デプスのヒストグラムを作成
depth_hist getDepthHistgram(const xn::DepthGenerator& depth,
                            const xn::DepthMetaData& depthMD)
{
  // デプスの傾向を計算する(アルゴリズムはNiSimpleViewer.cppを利用)
  const int MAX_DEPTH = depth.GetDeviceMaxDepth();
  depth_hist depthHist(MAX_DEPTH);

  unsigned int points = 0;
  const XnDepthPixel* pDepth = depthMD.Data();
  for (XnUInt y = 0; y < depthMD.YRes(); ++y) {
    for (XnUInt x = 0; x < depthMD.XRes(); ++x, ++pDepth) {
      if (*pDepth != 0) {
        depthHist[*pDepth]++;
        points++;
      }
    }
  }

  for (int i = 1; i < MAX_DEPTH; ++i) {
    depthHist[i] += depthHist[i-1];
  }

  if ( points != 0) {
    for (int i = 1; i < MAX_DEPTH; ++i) {
      depthHist[i] =
        (unsigned int)(256 * (1.0f - (depthHist[i] / points)));
    }
  }

  return depthHist;
}
开发者ID:DaikiMaekawa，项目名称:openni_sandbox，代码行数:32，代码来源:main.cpp


示例2: GenerateMinecraftCharacter

int GenerateMinecraftCharacter(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd, const XnRGB24Pixel* image)
{
    int ret = 0;
    int xRes = dmd.XRes();
    int yRes = dmd.YRes();
    
    cv::Mat inputImage = cv::Mat(yRes, xRes, CV_8UC3);
    cv::Mat skin = cv::Mat::zeros(cv::Size(64,32), CV_8UC3);
    XnToCV(image,&inputImage);
    cv::cvtColor(inputImage,inputImage,CV_RGB2BGR);
    
    
    XnUserID aUsers[15];
	XnUInt16 nUsers = 15;
	g_UserGenerator.GetUsers(aUsers, nUsers);
	int i = 0;
	for (i = 0; i < nUsers; ++i) {
	    if (g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])) break;
	}
	
	// No users being tracked
	if (i == nUsers) return -1;
	
	ret = GenerateSkin(aUsers[i], &inputImage, &skin);
	printf("GenerateSkin returned %d on user %d\n",ret,(int)aUsers[i]);
	cv::imwrite("skin.png",skin);
	SegmentUser(aUsers[i], &inputImage, smd);
	DrawDebugPoints(aUsers[i], &inputImage);
	cv::imwrite("blah.png",inputImage);
	sync();
	system("convert skin.png -transparent black skin.png && composite -geometry +32+0 hardhat.png skin.png skin.png");
	sync();
	
	return ret;
}
开发者ID:nrpatel，项目名称:Minecraft-Maker-Ant-Farm，代码行数:35，代码来源:MinecraftGenerator.cpp


示例3: getDepthImage

void getDepthImage(xn::DepthMetaData& depthMD, cv::Mat& depth_image)
{
	int rows = depthMD.GetUnderlying()->pMap->Res.Y;
	int cols = depthMD.GetUnderlying()->pMap->Res.X;
	
	// Data is 16-bit unsigned depths in mm
	cv::Mat tempmat(rows, cols, CV_16U);
	tempmat.data = (uchar*) depthMD.GetUnderlying()->pData;
	
	// Convert to floating point meters
	tempmat.convertTo(depth_image, CV_32F);
	depth_image /= 1000;
}
开发者ID:Aharobot，项目名称:bk-ros，代码行数:13，代码来源:main.cpp


示例4: grab

        virtual bool grab( xn::DepthMetaData& depthMetaData,
                           xn::ImageMetaData& imageMetaData )
        {
            while(1)
            {
                if( !isDepthFilled )
                    isDepthFilled = popDepthMetaData(depth);
                if( !isImageFilled )
                    isImageFilled = popImageMetaData(image);

                if( !isDepthFilled || !isImageFilled )
                    break;

                double timeDiff = 1e-3 * std::abs(static_cast<double>(depth.Timestamp()) - static_cast<double>(image.Timestamp()));

                if( timeDiff <= approxSyncGrabber.maxTimeDuration )
                {
                    depthMetaData.InitFrom(depth);
                    imageMetaData.InitFrom(image);
                    isDepthFilled = isImageFilled = false;
                    return true;
                }
                else
                {
                    if( depth.Timestamp() < image.Timestamp() )
                        isDepthFilled = false;
                    else
                        isImageFilled = false;
                }
            }

            return false;
        }
开发者ID:AndreSteenveld，项目名称:opencv，代码行数:33，代码来源:cap_openni.cpp


示例5: popDepthMetaData

 virtual inline bool popDepthMetaData( xn::DepthMetaData& depthMetaData )
 {
     cv::Ptr<xn::DepthMetaData> depthPtr;
     bool isPop = depthQueue.try_pop(depthPtr);
     if( isPop )
         depthMetaData.CopyFrom(*depthPtr);
     return isPop;
 }
开发者ID:AndreSteenveld，项目名称:opencv，代码行数:8，代码来源:cap_openni.cpp


示例6: getDepthMapFromMetaData

inline void getDepthMapFromMetaData( const xn::DepthMetaData& depthMetaData, cv::Mat& depthMap, XnUInt64 noSampleValue, XnUInt64 shadowValue )
{
    int cols = depthMetaData.XRes();
    int rows = depthMetaData.YRes();

    depthMap.create( rows, cols, CV_16UC1 );

    const XnDepthPixel* pDepthMap = depthMetaData.Data();

    // CV_Assert( sizeof(unsigned short) == sizeof(XnDepthPixel) );
    memcpy( depthMap.data, pDepthMap, cols*rows*sizeof(XnDepthPixel) );

    cv::Mat badMask = (depthMap == (double)noSampleValue) | (depthMap == (double)shadowValue) | (depthMap == 0);

    // mask the pixels with invalid depth
    depthMap.setTo( cv::Scalar::all( CvCapture_OpenNI::INVALID_PIXEL_VAL ), badMask );
}
开发者ID:AndreSteenveld，项目名称:opencv，代码行数:17，代码来源:cap_openni.cpp


示例7: get_depth_meta_data

/**
 * @brief	Gets a copy of the Color cv::Mat.
 * @details	Gets a copy of the Color cv::Mat, if the Image Generator 
 *			(_image_generator) is active.
 *
 * @param[out]	depth
 *				Copy of the Image cv::Mat.
 *
 * @retval	true if the cv::Mat was successfully copied.
 * @retval	false if the generator is not active or some other error occurred.
 */
bool NIKinect::get_depth_meta_data(xn::DepthMetaData& depth){
	if(this->_flags[NIKinect::DEPTH_G]){
		depth.CopyFrom(this->_depth_md);
		return true;
	}
	else{
		return false;
	}
}
开发者ID:mariojgpinto，项目名称:NIKinect，代码行数:20，代码来源:NIKinect.cpp


示例8: initTexs

//- - - - - - - - - - - - - - - - - -
//
void C_TrackWindow::initTexs( const xn::DepthMetaData& depthMD ) {

    struct getClosestPowerOfTwo {
        inline unsigned int operator()( unsigned int n) {
            unsigned int m = 2;
            while(m < n) m<<=1;
            return m;
        };
    };

    GLuint texID = 0;
    glGenTextures( 1, &depthTexID_ );

    texWidth_ = getClosestPowerOfTwo()( depthMD.XRes() );
    texHeight_ = getClosestPowerOfTwo()( depthMD.YRes() );
    pDepthTexBuf_ = new unsigned char[ texWidth_ * texHeight_ * 4 ];
    glBindTexture( GL_TEXTURE_2D, depthTexID_ );

    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
}
开发者ID:thuskey，项目名称:KinectMoCap_Maya，代码行数:23，代码来源:WindowGUI.cpp


示例9: setDepthHistgram

//----------------------------------------------------
// ヒストグラム作成関数
//----------------------------------------------------
void setDepthHistgram(const xn::DepthGenerator& depth, const xn::DepthMetaData& depthMD, float _pDepthHist[]){
	xnOSMemSet(_pDepthHist, 0, KINECT_MAX_DEPTH * sizeof(float));	// g_pDepthHistの全てに0を代入

	unsigned int points = 0;
	const XnDepthPixel* pDepth = depthMD.Data();
	for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y) {
		for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pDepth) {
			if (*pDepth != 0) {
				_pDepthHist[*pDepth] ++;
				points ++;
			}
		}
	}

	for (int i = 1; i < KINECT_MAX_DEPTH; ++ i) {
		_pDepthHist[i] += _pDepthHist[i - 1];
	}

	if ( points != 0) {
		for (int i = 1; i < KINECT_MAX_DEPTH; ++ i) {
			_pDepthHist[i] = (unsigned int)(256 * (1.0f - (_pDepthHist[i] / points)));
   		}
	}
}
开发者ID:Yusuke-Shimizu，项目名称:depthkey，代码行数:27，代码来源:main.cpp


示例10: DrawDepthMap

void DrawDepthMap(const xn::DepthMetaData& dm)
{
	static bool bInitialized = false;	
	static GLuint depthTexID;
	static unsigned char* pDepthTexBuf;
	static int texWidth, texHeight;

	 float topLeftX;
	 float topLeftY;
	 float bottomRightY;
	 float bottomRightX;
	float texXpos;
	float texYpos;

	if(!bInitialized)
	{
		XnUInt16 nXRes = dm.XRes();
		XnUInt16 nYRes = dm.YRes();
		texWidth =  getClosestPowerOfTwo(nXRes);
		texHeight = getClosestPowerOfTwo(nYRes);

		depthTexID = initTexture((void**)&pDepthTexBuf,texWidth, texHeight) ;

		bInitialized = true;

		topLeftX = nXRes;
		topLeftY = 0;
		bottomRightY = nYRes;
		bottomRightX = 0;
		texXpos =(float)nXRes/texWidth;
		texYpos  =(float)nYRes/texHeight;

		memset(texcoords, 0, 8*sizeof(float));
		texcoords[0] = texXpos, texcoords[1] = texYpos, texcoords[2] = texXpos, texcoords[7] = texYpos;

	}
	unsigned int nValue = 0;
	unsigned int nHistValue = 0;
	unsigned int nIndex = 0;
	unsigned int nX = 0;
	unsigned int nY = 0;
	unsigned int nNumberOfPoints = 0;
	XnUInt16 g_nXRes = dm.XRes();
	XnUInt16 g_nYRes = dm.YRes();

	unsigned char* pDestImage = pDepthTexBuf;

	const XnUInt16* pDepth = dm.Data();

	// Calculate the accumulative histogram
	memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
	for (nY=0; nY<g_nYRes; nY++)
	{
		for (nX=0; nX<g_nXRes; nX++)
		{
			nValue = *pDepth;

			if (nValue != 0)
			{
				g_pDepthHist[nValue]++;
				nNumberOfPoints++;
			}

			pDepth++;
		}
	}

	for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
	{
		g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
	}
	if (nNumberOfPoints)
	{
		for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
		{
			g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
		}
	}

	pDepth = dm.Data();
	{
		XnUInt32 nIndex = 0;
		// Prepare the texture map
		for (nY=0; nY<g_nYRes; nY++)
		{
			for (nX=0; nX < g_nXRes; nX++, nIndex++)
			{
				nValue = *pDepth;

				if (nValue != 0)
				{
					nHistValue = g_pDepthHist[nValue];

					pDestImage[0] = nHistValue; 
					pDestImage[1] = nHistValue;
					pDestImage[2] = nHistValue;
				}
				else
				{
					pDestImage[0] = 0;
//.........这里部分代码省略.........
开发者ID:Temple-GRCI，项目名称:GRCI，代码行数:101，代码来源:PointDrawer.cpp


示例11: DrawDepthMap

void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd)
{
	static bool bInitialized = false;
	static GLuint depthTexID;
	static unsigned char* pDepthTexBuf;
	static int texWidth, texHeight;

	float topLeftX;
	float topLeftY;
	float bottomRightY;
	float bottomRightX;
	float texXpos;
	float texYpos;

	if(!bInitialized)
	{
		texWidth =  getClosestPowerOfTwo(dmd.XRes());
		texHeight = getClosestPowerOfTwo(dmd.YRes());

//		printf("Initializing depth texture: width = %d, height = %d\n", texWidth, texHeight);
		depthTexID = initTexture((void**)&pDepthTexBuf,texWidth, texHeight) ;

//		printf("Initialized depth texture: width = %d, height = %d\n", texWidth, texHeight);
		bInitialized = true;

		topLeftX = dmd.XRes();
		topLeftY = 0;
		bottomRightY = dmd.YRes();
		bottomRightX = 0;
		texXpos =(float)dmd.XRes()/texWidth;
		texYpos  =(float)dmd.YRes()/texHeight;

		memset(texcoords, 0, 8*sizeof(float));
		texcoords[0] = texXpos, texcoords[1] = texYpos, texcoords[2] = texXpos, texcoords[7] = texYpos;
	}

	unsigned int nValue = 0;
	unsigned int nHistValue = 0;
	unsigned int nIndex = 0;
	unsigned int nX = 0;
	unsigned int nY = 0;
	unsigned int nNumberOfPoints = 0;
	XnUInt16 g_nXRes = dmd.XRes();
	XnUInt16 g_nYRes = dmd.YRes();

	unsigned char* pDestImage = pDepthTexBuf;

	const XnDepthPixel* pDepth = dmd.Data();
	const XnLabel* pLabels = smd.Data();

	// Calculate the accumulative histogram
	memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
	for (nY=0; nY<g_nYRes; nY++)
	{
		for (nX=0; nX<g_nXRes; nX++)
		{
			nValue = *pDepth;

			if (nValue != 0)
			{
				g_pDepthHist[nValue]++;
				nNumberOfPoints++;
			}

			pDepth++;
		}
	}

	for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
	{
		g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
	}
	if (nNumberOfPoints)
	{
		for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
		{
			g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
		}
	}

	pDepth = dmd.Data();
	if (g_bDrawPixels)
	{
		XnUInt32 nIndex = 0;
		// Prepare the texture map
		for (nY=0; nY<g_nYRes; nY++)
		{
			for (nX=0; nX < g_nXRes; nX++, nIndex++)
			{

				pDestImage[0] = 0;
				pDestImage[1] = 0;
				pDestImage[2] = 0;
				if (g_bDrawBackground || *pLabels != 0)
				{
					nValue = *pDepth;
					XnLabel label = *pLabels;
					XnUInt32 nColorID = label % nColors;
					if (label == 0)
					{
//.........这里部分代码省略.........
开发者ID:sebkpp，项目名称:TUIFramework，代码行数:101，代码来源:SceneDrawer.cpp


示例12: Update

// Save new data from OpenNI
void MovieMng::Update(const xn::DepthMetaData& dmd, const xn::ImageMetaData& imd)
{
	// バッファ空き確認
	if((m_nBufferSizeFile == 0) || (m_nBufferSizeSend == 0))
	{
		printf("バッファ空きなし！！ ForFile:%d ForSend:%d\n", m_nBufferSizeFile, m_nBufferSizeSend);
		return;
	}

	SingleFrame* pFrames = m_pFrames + m_nNextWrite;

	if(m_nNextWrite == 0)
	{
		m_nImageHeight = imd.FullYRes();
		m_nImageWidth = imd.FullXRes();
		m_nDepthHeight = dmd.FullYRes();
		m_nDepthWidth = dmd.FullXRes();

		printf("Image Height:%d Width:%d  Depth Height:%d Width:%d\n", 
			m_nImageHeight, m_nImageWidth, m_nDepthHeight, m_nDepthWidth);
	}
#ifdef LOG_WRITE_ENABLE
	fprintf(mmng_fp, "[%s] update. m_nNextWrite:%d\n", __FUNCTION__, m_nNextWrite);
#endif
	if (m_bDepth)
	{
		pFrames->depthFrame.CopyFrom(dmd);
	}
	
	if (m_bImage)
	{
		pFrames->imageFrame.CopyFrom(imd);
	}

	// バッファ管理情報書き換え
	if (m_bFileWrite)
	{
		EnterCriticalSection(&csFileWriter);
		m_nDataCountFile++;
		m_nBufferSizeFile--;
	}

	if (m_bSendDepth)
	{
		EnterCriticalSection(&csDepthSender);
		m_nDataCountSend++;
		m_nBufferSizeSend--;
	}
	
	m_nNextWrite++;
	if (m_nBufferSize == m_nNextWrite)
	{
		m_nNextWrite = 0;
	}

	if (m_bFileWrite)
	{
		LeaveCriticalSection(&csFileWriter);
	}
	
	if (m_bSendDepth)
	{
		LeaveCriticalSection(&csDepthSender);
	}
}
开发者ID:beckman16，项目名称:Real_Time_Head_Pose_Estimation_from_Consumer_Depth_Cameras_Client_Server，代码行数:66，代码来源:MovieMng.cpp


示例13: DrawDepthMap

void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd, XnUserID player)
{
	static bool bInitialized = false;	
	static GLuint depthTexID;
	static unsigned char* pDepthTexBuf;
	static int texWidth, texHeight;

	 float topLeftX;
	 float topLeftY;
	 float bottomRightY;
	 float bottomRightX;
	float texXpos;
	float texYpos;

	if(!bInitialized)
	{

		texWidth =  getClosestPowerOfTwo(dmd.XRes());
		texHeight = getClosestPowerOfTwo(dmd.YRes());

//		printf("Initializing depth texture: width = %d, height = %d\n", texWidth, texHeight);
		depthTexID = initTexture((void**)&pDepthTexBuf,texWidth, texHeight) ;

//		printf("Initialized depth texture: width = %d, height = %d\n", texWidth, texHeight);
		bInitialized = true;

		topLeftX = dmd.XRes();
		topLeftY = 0;
		bottomRightY = dmd.YRes();
		bottomRightX = 0;
		texXpos =(float)dmd.XRes()/texWidth;
		texYpos  =(float)dmd.YRes()/texHeight;

		memset(texcoords, 0, 8*sizeof(float));
		texcoords[0] = texXpos, texcoords[1] = texYpos, texcoords[2] = texXpos, texcoords[7] = texYpos;

	}
	unsigned int nValue = 0;
	unsigned int nHistValue = 0;
	unsigned int nIndex = 0;
	unsigned int nX = 0;
	unsigned int nY = 0;
	unsigned int nNumberOfPoints = 0;
	XnUInt16 g_nXRes = dmd.XRes();
	XnUInt16 g_nYRes = dmd.YRes();

	unsigned char* pDestImage = pDepthTexBuf;

	const XnDepthPixel* pDepth = dmd.Data();
	const XnLabel* pLabels = smd.Data();

	// Calculate the accumulative histogram
	memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
	for (nY=0; nY<g_nYRes; nY++)
	{
		for (nX=0; nX<g_nXRes; nX++)
		{
			nValue = *pDepth;

			if (nValue != 0)
			{
				g_pDepthHist[nValue]++;
				nNumberOfPoints++;
			}

			pDepth++;
		}
	}

	for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
	{
		g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
	}
	if (nNumberOfPoints)
	{
		for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
		{
			g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
		}
	}

	pDepth = dmd.Data();
	{
		XnUInt32 nIndex = 0;
		// Prepare the texture map
		for (nY=0; nY<g_nYRes; nY++)
		{
			for (nX=0; nX < g_nXRes; nX++, nIndex++)
			{
				nValue = *pDepth;
				XnLabel label = *pLabels;
				XnUInt32 nColorID = label % nColors;
				if (label == 0)
				{
					nColorID = nColors;
				}

				if (nValue != 0)
				{
					nHistValue = g_pDepthHist[nValue];
//.........这里部分代码省略.........
开发者ID:imclab，项目名称:Bingsu，代码行数:101，代码来源:SceneDrawer.cpp


示例14: DrawDepthMap

void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd)
{
	static bool bInitialized = false;	
	static GLuint depthTexID;
	static unsigned char* pDepthTexBuf;
	static int texWidth, texHeight;

	float topLeftX;
	float topLeftY;
	float bottomRightY;
	float bottomRightX;
	float texXpos;
	float texYpos;

	/*
	if not initialized
	set parameters and reserve memory space
	*/
	if(!bInitialized)
	{
		texWidth =  getClosestPowerOfTwo(dmd.XRes());
		texHeight = getClosestPowerOfTwo(dmd.YRes());

//		printf("Initializing depth texture: width = %d, height = %d\n", texWidth, texHeight);
		depthTexID = initTexture((void**)&pDepthTexBuf,texWidth, texHeight) ;

//		printf("Initialized depth texture: width = %d, height = %d\n", texWidth, texHeight);
		bInitialized = true;

		topLeftX = dmd.XRes();
		topLeftY = 0;
		bottomRightY = dmd.YRes();
		bottomRightX = 0;
		texXpos =(float)dmd.XRes()/texWidth;
		texYpos  =(float)dmd.YRes()/texHeight;

		memset(texcoords, 0, 8*sizeof(float));
		texcoords[0] = texXpos, texcoords[1] = texYpos, texcoords[2] = texXpos, texcoords[7] = texYpos;
	}

	unsigned int nValue = 0;
	unsigned int nHistValue = 0;
	unsigned int nIndex = 0;
	unsigned int nX = 0;
	unsigned int nY = 0;
	unsigned int nNumberOfPoints = 0;
	XnUInt16 g_nXRes = dmd.XRes();
	XnUInt16 g_nYRes = dmd.YRes();

	unsigned char* pDestImage = pDepthTexBuf;

	const XnDepthPixel* pDepth = dmd.Data();
	const XnLabel* pLabels = smd.Data();

	// get the depth resolution
	static unsigned int nZRes = dmd.ZRes();
	static float* pDepthHist = (float*)malloc(nZRes* sizeof(float));

	// Calculate the accumulative histogram
	memset(pDepthHist, 0, nZRes*sizeof(float));

	// count the number of pixels of every possible depth value
	for (nY=0; nY<g_nYRes; nY++)
	{
		for (nX=0; nX<g_nXRes; nX++)
		{
			nValue = *pDepth;

			if (nValue != 0)
			{
				pDepthHist[nValue]++;
				nNumberOfPoints++;
			}

			pDepth++;
		}
	}

	for (nIndex=1; nIndex<nZRes; nIndex++)
	{
		pDepthHist[nIndex] += pDepthHist[nIndex-1];
	}

	// calculate percentage for every depth value
	// the larger the value is, the darker the pixel should be 
	if (nNumberOfPoints)
	{
		for (nIndex=1; nIndex<nZRes; nIndex++)
		{
			pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (pDepthHist[nIndex] / nNumberOfPoints)));
		}
	}

	pDepth = dmd.Data();
	if (g_bDrawPixels)
	{
		XnUInt32 nIndex = 0;
		// Prepare the texture map
		for (nY=0; nY<g_nYRes; nY++)
		{
//.........这里部分代码省略.........
开发者ID:scottmeng，项目名称:VOBE_user_state_detection，代码行数:101，代码来源:SceneDrawer.cpp


示例15: DrawDepthMap

void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd, ros::Publisher pub_body, edwin::SceneAnalysis scene, edwin::People person)
{



	static bool bInitialized = false;
	static GLuint depthTexID;
	static unsigned char* pDepthTexBuf;
	static int texWidth, texHeight;

	 float topLeftX;
	 float topLeftY;
	 float bottomRightY;
	 float bottomRightX;
	float texXpos;
	float texYpos;

	if(!bInitialized)
	{

		texWidth =  getClosestPowerOfTwo(dmd.XRes());
		texHeight = getClosestPowerOfTwo(dmd.YRes());

//		printf("Initializing depth texture: width = %d, height = %d\n", texWidth, texHeight);
		depthTexID = initTexture((void**)&pDepthTexBuf,texWidth, texHeight) ;

//		printf("Initialized depth texture: width = %d, height = %d\n", texWidth, texHeight);
		bInitialized = true;

		topLeftX = dmd.XRes();
		topLeftY = 0;
		bottomRightY = dmd.YRes();
		bottomRightX = 0;
		texXpos =(float)dmd.XRes()/texWidth;
		texYpos  =(float)dmd.YRes()/texHeight;

		memset(texcoords, 0, 8*sizeof(float));
		texcoords[0] = texXpos, texcoords[1] = texYpos, texcoords[2] = texXpos, texcoords[7] = texYpos;

	}
	unsigned int nValue = 0;
	unsigned int nHistValue = 0;
	unsigned int nIndex = 0;
	unsigned int nX = 0;
	unsigned int nY = 0;
	unsigned int nNumberOfPoints = 0;
	XnUInt16 g_nXRes = dmd.XRes();
	XnUInt16 g_nYRes = dmd.YRes();

	unsigned char* pDestImage = pDepthTexBuf;

	const XnDepthPixel* pDepth = dmd.Data();
	const XnLabel* pLabels = smd.Data();

	// Calculate the accumulative histogram
	memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
	for (nY=0; nY<g_nYRes; nY++)
	{
		for (nX=0; nX<g_nXRes; nX++)
		{
			nValue = *pDepth;

			if (nValue != 0)
			{
				g_pDepthHist[nValue]++;
				nNumberOfPoints++;
			}

			pDepth++;
		}
	}

	for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
	{
		g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
	}
	if (nNumberOfPoints)
	{
		for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
		{
			g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
		}
	}

	XnPoint3D coms[20];
	XnUInt32 labels[20] = {0};
	for (int i = 0; i < 20; ++i)
	{
		coms[i] = xnCreatePoint3D(0,0,0);
	}

	pDepth = dmd.Data();
	{
		XnUInt32 nIndex = 0;
		// Prepare the texture map
		for (nY=0; nY<g_nYRes; nY++)
		{
			for (nX=0; nX < g_nXRes; nX++, nIndex++)
			{
				nValue = *pDepth;
//.........这里部分代码省略.........
开发者ID:olinrobotics，项目名称:edwin，代码行数:101，代码来源:SceneDrawer.cpp


示例16: PublishPeopleImage

void PublishPeopleImage(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd, image_transport::Publisher& pub)
{
	const XnDepthPixel* pDepth = dmd.Data();
	const XnLabel* pLabels = smd.Data();
	unsigned int nValue = 0;
	XnUInt16 g_nXRes = dmd.XRes();
	XnUInt16 g_nYRes = dmd.YRes();
	cv::Mat peopleSegmentation(g_nYRes, g_nXRes, CV_8UC3);

	// Prepare the texture map
	for (unsigned int nY=0; nY<g_nYRes; nY++)
	{
		uchar* pDestImage = peopleSegmentation.ptr(nY);
		for (unsigned int nX=0; nX < g_nXRes; nX++)
		{

			pDestImage[0] = 0;
			pDestImage[1] = 0;
			pDestImage[2] = 0;
			if (*pLabels != 0)
			{
				nValue = *pDepth;
				XnLabel label = *pLabels;
				XnUInt32 nColorID = label % nColors;

				if (nValue != 0)
				{
					pDestImage[0] = 255 * Colors[nColorID][0]; 
					pDestImage[1] = 255 * Colors[nColorID][1];
					pDestImage[2] = 255 * Colors[nColorID][2];
				}
			}

			pDepth++;
			pLabels++;
			pDestImage+=3;
		}
	}
	
	// todo: stop and start with respect to odometry: segmentation works best if robot is standing still
	
	// publish
	try
	{
		IplImage img = (IplImage)peopleSegmentation;
		sensor_msgs::ImagePtr msg = (sensor_msgs::CvBridge::cvToImgMsg(&img, "bgr8"));
		msg->header.stamp = ros::Time::now();
		pub.publish(msg);
	}
	catch (sensor_msgs::CvBridgeException error)
	{
		ROS_ERROR("[openni_tracker] Could not convert IplImage to ROS message");
	}
	
// 	cv_bridge::CvImage bridgeImage;		did not work
// 	bridgeImage.image = peopleSegmentation.clone();
// 	sensor_msgs::ImagePtr msg = bridgeImage.toImageMsg();
// 	pub.publish(msg);


	// display for checking the output
// 	cv::namedWindow("Test");
// 	imshow("Test", peopleSegmentation);
// 	uchar key = cv::waitKey(10);
// 	if (key == 'r')
// 	{
// 	  g_UserGenerator.StopGenerating();
// 	  std::cout << "stop\n";
// 	}
// 	if (key == 'c')
// 	{
// 	  g_UserGenerator.StartGenerating();
// 	  std::cout << "start\n";
// 	}
}
开发者ID:Yanzqing，项目名称:cob_people_perception，代码行数:75，代码来源:SceneDrawer.cpp


示例17: updateScene

void SceneDrawer::updateScene(const xn::DepthMetaData &dmd,
			      const xn::SceneMetaData &smd)
{
  if (!initialized)
    init(dmd.XRes(), dmd.YRes(), dmd.ZRes());

  unsigned int val = 0, numOfPoints = 0;
  unsigned int xRes = dmd.XRes(), yRes = dmd.YRes();
  unsigned char* pDestImage = pDepthTexBuf;
  const XnDepthPixel* pDepth = dmd.Data();
  const XnLabel* pLabels = smd.Data();

  // calculate the accumulative depth histogram
  memset(pDepthHist, 0, zRes*sizeof(float));

  int numOfIterations = xRes * yRes;

  for (int i = 0; i < numOfIterations; ++i, ++pDepth){
    val = *pDepth;

    if (val != 0){
      pDepthHist[val]++;
      numOfPoints++;
    }
  }

  for (int i = 1; i < zRes; ++i)
    pDepthHist[i] += pDepthHist[i-1];

  if (numOfPoints > 0){
    for (int i = 0; i < zRes; ++i)
      pDepthHist[i] = floor(256.0f*(1.0f-pDepthHist[i]/(float)numOfPoints));
  }

  // turn depth map to a colored texture image
  pDepth = dmd.Data();

  XnUInt32 ci;
  XnLabel label;
  unsigned int histVal;

  for (int i = 0; i < numOfIterations;
       ++i, ++pDepth, ++pLabels, pDestImage += 3){
    val = *pDepth;
    label = *pLabels;

    if (label != 0)
      ci = label % nColors;
    else
      ci = nColors;

    if (val != 0){
      histVal = pDepthHist[val];

      pDestImage[0] = histVal * colors[ci][0];
      pDestImage[1] = histVal * colors[ci][1];
      pDestImage[2] = histVal * colors[ci][2];
    }
    else
      pDestImage[0] = pDestImage[1] = pDestImage[2] = 0;
  }

  glBindTexture(GL_TEXTURE_2D, depthTexID);
  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, texWidth, texHeight, 0, GL_RGB,
	       GL_UNSIGNED_BYTE, pDepthTexBuf);
}
开发者ID:Rajesh-Ru，项目名称:act-rec-proj-2013，代码行数:66，代码来源:SceneDrawer.cpp


示例18: retrievePointCloudMap

IplImage* CvCapture_OpenNI::retrievePointCloudMap()
{
    if( !depthMetaData.Data() )
        return 0;

    cv::Mat depth;
    getDepthMapFromMetaData( depthMetaData, depth, noSampleValue, shadowValue );

    const int badPoint = INVALID_PIXEL_VAL;
    const float badCoord = INVALID_COORDINATE_VAL;
    int cols = depthMetaData.XRes(), rows = depthMetaData.YRes();
    cv::Mat pointCloud_XYZ( rows, cols, CV_32FC3, cv::Scalar::all(badPoint) );

    cv::Ptr<XnPoint3D> proj = new XnPoint3D[cols*rows];
    cv::Ptr<XnPoint3D> real = new XnPoint3D[cols*rows];
    for( int y = 0; y < rows; y++ )
    {
        for( int x = 0; x < cols; x++ )
        {
            int ind = y*cols+x;
            proj[ind].X = (float)x;
            proj[ind].Y = (float)y;
            proj[ind].Z = depth.at<unsigned short>(y, x);
        }
    }
    depthGenerator.ConvertProjectiveToRealWorld(cols*rows, proj, real);

    for( int y = 0; y < rows; y++ )
    {
        for( int x = 0; x < cols; x++ )
        {
            // Check for invalid measurements
            if( depth.at<unsigned short>(y, x) == badPoint ) // not valid
                pointCloud_XYZ.at<cv::Point3f>(y,x) = cv::Point3f( badCoord, badCoord, badCoord );
            else
            {
                int ind = y*cols+x;
                pointCloud_XYZ.at<cv::Point3f>(y,x) = cv::Point3f( real[ind].X*0.001f, real[ind].Y*0.001f, real[ind].Z*0.001f); // from mm to meters
            }
        }
    }

    outputMaps[CV_CAP_OPENNI_POINT_CLOUD_MAP].mat = pointCloud_XYZ;

    return outputMaps[CV_CAP_OPENNI_POINT_CLOUD_MAP].getIplImagePtr();
}
开发者ID:AndreSteenveld，项目名称:opencv，代码行数:46，代码来源:cap_openni.cpp


示例19: retrieveDepthMap

IplImage* CvCapture_OpenNI::retrieveDepthMap()
{
    if( !depthMetaData.Data() )
        return 0;

    getDepthMapFromMetaData( depthMetaData, outputMaps[CV_CAP_OPENNI_DEPTH_MAP].mat, noSampleValue, shadowValue );

    return outputMaps[CV_CAP_OPENNI_DEPTH_MAP].getIplImagePtr();
}
开发者ID:AndreSteenveld，项目名称:opencv，代码行数:9，代码来源:cap_openni.cpp


示例20: 

IplImage* CvCapture_OpenNI::retrieveDisparityMap_32F()
{
    if( !depthMetaData.Data() )
        return 0;

    computeDisparity_32F( depthMetaData, outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].mat, baseline, depthFocalLength_VGA, noSampleValue, shadowValue );

    return outputMaps[CV_CAP_OPENNI_DISPARITY_MAP_32F].getIplImagePtr();
}
开发者ID:AndreSteenveld，项目名称:opencv，代码行数:9，代码来源:cap_openni.cpp



注：本文中的xn::DepthMetaData类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

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