C++ VideoFrameRef::getStrideInBytes方法代码示例

            static void toCVTImage( Image& dst, const openni::VideoFrameRef& frame )
            {
                dst.reallocate( frame.getWidth(), frame.getHeight(), Openni2Helper::toIFormat( frame.getVideoMode().getPixelFormat() ) );

                switch( frame.getVideoMode().getPixelFormat() ){
                    case openni::PIXEL_FORMAT_RGB888:
                        copyRGB( dst, ( const uint8_t* )frame.getData(), frame.getStrideInBytes() );
                        break;
                    default:
                        copyData( dst, ( const uint8_t* )frame.getData(), frame.getStrideInBytes() );
                }
            }

void calculateHistogram(float* pHistogram, int histogramSize, const openni::VideoFrameRef& frame)
{
	const openni::DepthPixel* pDepth = (const openni::DepthPixel*)frame.getData();
	// Calculate the accumulative histogram (the yellow display...)
	memset(pHistogram, 0, histogramSize*sizeof(float));
	int restOfRow = frame.getStrideInBytes() / sizeof(openni::DepthPixel) - frame.getWidth();
	int height = frame.getHeight();
	int width = frame.getWidth();

	unsigned int nNumberOfPoints = 0;
	for (int y = 0; y < height; ++y)
	{
		for (int x = 0; x < width; ++x, ++pDepth)
		{
			if (*pDepth != 0)
			{
				pHistogram[*pDepth]++;
				nNumberOfPoints++;
			}
		}
		pDepth += restOfRow;
	}
	for (int nIndex=1; nIndex<histogramSize; nIndex++)
	{
		pHistogram[nIndex] += pHistogram[nIndex-1];
	}
	if (nNumberOfPoints)
	{
		for (int nIndex=1; nIndex<histogramSize; nIndex++)
		{
			pHistogram[nIndex] = (256 * (1.0f - (pHistogram[nIndex] / nNumberOfPoints)));
		}
	}
}

/*
* Fuction to draw histogram of depth image
*/
void calculateHistogram(int* pHistogram, int histogramSize, const openni::VideoFrameRef& depthFrame)
{
	const openni::DepthPixel* pDepth = (const openni::DepthPixel*)depthFrame.getData();
	int* pHistogram_temp = new int[histogramSize];
	int width = depthFrame.getWidth();
	int height = depthFrame.getHeight();
	// Calculate the accumulative histogram (the yellow HandSegmentation...)
	memset(pHistogram, 0, histogramSize*sizeof(int));
	memset(pHistogram_temp, 0, histogramSize*sizeof(int));
	int restOfRow = depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel) - width;

	unsigned int nNumberOfPoints = 0;
	for (int y = 0; y < height; ++y)
	{
		for (int x = 0; x < width; ++x, ++pDepth)
		{
			if (*pDepth != 0 && *pDepth <= MAX_DEPTH)
			{
				pHistogram_temp[*pDepth]++;
				nNumberOfPoints++;
			}
		}
		pDepth += restOfRow;
	}
	if (nNumberOfPoints)
	{
		for (int nIndex=1; nIndex < histogramSize; nIndex++)
		{
			pHistogram_temp[nIndex] += pHistogram_temp[nIndex-1];
			pHistogram[nIndex] = (int)(256 * (1.0f - ((float)pHistogram_temp[nIndex] / nNumberOfPoints)));
		}
	}
}

void SampleViewer::displayFrame(const openni::VideoFrameRef& frame)
{
	if (!frame.isValid())
		return;

	const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)frame.getData();
	openni::RGB888Pixel* pTexRow = m_pTexMap + frame.getCropOriginY() * m_nTexMapX;
	int rowSize = frame.getStrideInBytes() / sizeof(openni::DepthPixel);

	for (int y = 0; y < frame.getHeight(); ++y)
	{
		const openni::DepthPixel* pDepth = pDepthRow;
		openni::RGB888Pixel* pTex = pTexRow + frame.getCropOriginX();

		for (int x = 0; x < frame.getWidth(); ++x, ++pDepth, ++pTex)
		{
			if (*pDepth != 0)
			{
				int nHistValue = m_pDepthHist[*pDepth];
				pTex->r = nHistValue;
				pTex->g = nHistValue;
				pTex->b = nHistValue;
			}
		}

		pDepthRow += rowSize;
		pTexRow += m_nTexMapX;
	}

}

  inline void cvt_oniimage(openni::VideoFrameRef src, image &to, const MemOp &m)
  {
	const void* data = src.getData();
	void* datab = const_cast<void*>(data);
    to = image(src.getWidth(), src.getHeight(), src.getStrideInBytes(), datab, m);
    to.set_format(image::FORMAT_DEPTH_16);
  }

void CGraph::Calculate(float* pHistogram, int histogramSize, const openni::VideoFrameRef& depthFrame)
{
	const openni::DepthPixel* pDepth = (const openni::DepthPixel*)depthFrame.getData();
	int width = depthFrame.getWidth();
	int height = depthFrame.getHeight();
	memset(pHistogram, 0, histogramSize*sizeof(float));
	int restOfRow = depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel) - width;

	unsigned int nNumberOfPoints = 0;
	for (int y = 0; y < height; ++y)
	{
		for (int x = 0; x < width; ++x, ++pDepth)
		{
			if (*pDepth != 0)
			{
				pHistogram[*pDepth]++;
				nNumberOfPoints++;
			}
		}
		pDepth += restOfRow;
	}
	for (int nIndex = 1; nIndex < histogramSize; nIndex++)
	{
		pHistogram[nIndex] += pHistogram[nIndex - 1];
	}
	if (nNumberOfPoints)
	{
		for (int nIndex = 1; nIndex < histogramSize; nIndex++)
		{
			pHistogram[nIndex] = (256 * (1.0f - (pHistogram[nIndex] / nNumberOfPoints)));
		}
	}
}

void GeomDepthCalculator::SetDepthFrame(openni::VideoFrameRef& depthFrame)
{
	int w = depthFrame.getWidth();
	int h = depthFrame.getHeight();

	

	const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)depthFrame.getData();

	int rowSize = depthFrame.getStrideInBytes();
	rowSize /= sizeof(openni::DepthPixel);

	DepthFrame::FrameData<ushort>* frame = 0;
	if (m_frames.size() < m_maxFrames)
	{
		frame = new DepthFrame::FrameData<ushort>();
	}
	else
	{
		frame = *m_frames.begin();
		m_frames.erase(m_frames.begin());
	}
	frame->copyData(pDepthRow, w, h);
	m_frames.push_back(frame);

	m_avgFrame.createData(w,h);

	_averageFrames();

	m_frame->SetRawData(m_avgFrame.Data(), w, h);
	m_frame->CalculateDepth();
	if (m_calcNormals)
		m_frame->CalculateNormals();
	
}

 void copyFrame(openni::VideoFrameRef& frame, MRPT_DATA& dst){
     const char*  data    = (const char*)frame.getData();
     const int    stride  = frame.getStrideInBytes();
     const int    width   = frame.getWidth();
     const int    height  = frame.getHeight();
     resize(dst, width, height);
     for (int y = 0; y < height; ++y, data+=stride){
         copyRow<NI_PIXEL, MRPT_DATA>(data, dst, width, y);
     }
 }

void SampleViewer::display()
{
	int changedIndex;
	openni::Status rc = openni::OpenNI::waitForAnyStream(m_streams, 2, &changedIndex);
	if (rc != openni::STATUS_OK)
	{
		printf("Wait failed\n");
		return;
	}

	switch (changedIndex)
	{
	case 0:
		m_depthStream.readFrame(&m_depthFrame); break;
	case 1:
		m_colorStream.readFrame(&m_colorFrame); break;
	default:
		printf("Error in wait\n");
	}

	glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

	glMatrixMode(GL_PROJECTION);
	glPushMatrix();
	glLoadIdentity();
	glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);

	if (m_depthFrame.isValid())
	{
		calculateHistogram(m_pDepthHist, MAX_DEPTH, m_depthFrame);
	}

	memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));

	// check if we need to draw image frame to texture
	if ((m_eViewState == DISPLAY_MODE_OVERLAY ||
		m_eViewState == DISPLAY_MODE_IMAGE) && m_colorFrame.isValid())
	{
		const openni::RGB888Pixel* pImageRow = (const openni::RGB888Pixel*)m_colorFrame.getData();
		openni::RGB888Pixel* pTexRow = m_pTexMap + m_colorFrame.getCropOriginY() * m_nTexMapX;
		int rowSize = m_colorFrame.getStrideInBytes() / sizeof(openni::RGB888Pixel);

		for (int y = 0; y < m_colorFrame.getHeight(); ++y)
		{
			const openni::RGB888Pixel* pImage = pImageRow;
			openni::RGB888Pixel* pTex = pTexRow + m_colorFrame.getCropOriginX();

			for (int x = 0; x < m_colorFrame.getWidth(); ++x, ++pImage, ++pTex)
			{
				*pTex = *pImage;
			}

			pImageRow += rowSize;
			pTexRow += m_nTexMapX;
		}
	}

	// check if we need to draw depth frame to texture
	if ((m_eViewState == DISPLAY_MODE_OVERLAY ||
		m_eViewState == DISPLAY_MODE_DEPTH) && m_depthFrame.isValid())
	{
		const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)m_depthFrame.getData();
		openni::RGB888Pixel* pTexRow = m_pTexMap + m_depthFrame.getCropOriginY() * m_nTexMapX;
		int rowSize = m_depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel);

		for (int y = 0; y < m_depthFrame.getHeight(); ++y)
		{
			const openni::DepthPixel* pDepth = pDepthRow;
			openni::RGB888Pixel* pTex = pTexRow + m_depthFrame.getCropOriginX();

			for (int x = 0; x < m_depthFrame.getWidth(); ++x, ++pDepth, ++pTex)
			{
				if (*pDepth != 0)
				{
					int nHistValue = m_pDepthHist[*pDepth];
					pTex->r = nHistValue;
					pTex->g = nHistValue;
					pTex->b = 0;
				}
			}

			pDepthRow += rowSize;
			pTexRow += m_nTexMapX;
		}
	}

	glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_nTexMapX, m_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, m_pTexMap);

	// Display the OpenGL texture map
	glColor4f(1,1,1,1);

	glBegin(GL_QUADS);

	int nXRes = m_width;
	int nYRes = m_height;

	// upper left
//.........这里部分代码省略.........

void SampleViewer::Display()
{

	nite::Status rc = m_pHandTracker->readFrame(&handFrame);
	if (rc != nite::STATUS_OK)
	{
		printf("GetNextData failed\n");
		return;
	}

	depthFrame = handFrame.getDepthFrame();

	if (m_pTexMap == NULL)
	{
		// Texture map init
		m_nTexMapX = MIN_CHUNKS_SIZE(depthFrame.getVideoMode().getResolutionX(), TEXTURE_SIZE);
		m_nTexMapY = MIN_CHUNKS_SIZE(depthFrame.getVideoMode().getResolutionY(), TEXTURE_SIZE);
		m_pTexMap = new openni::RGB888Pixel[m_nTexMapX * m_nTexMapY];
	}

	glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
	glEnable(GL_DEPTH_TEST);
	glMatrixMode(GL_PROJECTION);
	glPushMatrix();
	glLoadIdentity();
	glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -10000.0, 10000.0);



	if (depthFrame.isValid())
	{
		calculateHistogram(m_pDepthHist, MAX_DEPTH, depthFrame);
	}

	memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));

	float factor[3] = {1, 1, 1};
	// check if we need to draw depth frame to texture
	
	float av_x = 0;
	float av_y = 0;
	int counter= 0;



	for(int i = 0; i<=7 ; i++)
	      note_on[i] = false;

	if (depthFrame.isValid() && g_drawDepth)
	{
		const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)depthFrame.getData();
		const openni::DepthPixel* pDepthRow1 = pDepthRow;
		openni::RGB888Pixel* pTexRow = m_pTexMap + depthFrame.getCropOriginY() * m_nTexMapX;
		int rowSize = depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel);
		glPointSize(2);
		glBegin(GL_POINTS);

		for (int y = 0; y < depthFrame.getHeight(); ++y)
		{
			const openni::DepthPixel* pDepth = pDepthRow;
			openni::RGB888Pixel* pTex = pTexRow + depthFrame.getCropOriginX();
			//chord_temp = 0;
			for (int x = 0; x < depthFrame.getWidth(); ++x, ++pDepth, ++pTex)
			{
				if (*pDepth != 0)
				{
					factor[0] = Colors[colorCount][0];
					factor[1] = Colors[colorCount][1];
					factor[2] = Colors[colorCount][2];

					int nHistValue = m_pDepthHist[*pDepth];
					pTex->r = nHistValue*factor[0];
					pTex->g = nHistValue*factor[1];
					pTex->b = nHistValue*factor[2];

					factor[0] = factor[1] = factor[2] = 1;
					

					if(*pDepth <= 800)
					{
					    //glColor3f(1,0,0);	
						glColor3f(float(*pDepth)/2000,float(*pDepth)/2000,float(*pDepth)/2000);
						
						av_x = x + av_x;
						counter++;
						av_y = y + av_y;
		
							
					}
					else{
						glColor3f(float(*pDepth)/2000,float(*pDepth)/2000,float(*pDepth)/2000);	
		
					}

					glVertex3f(2*x,2*y,-*pDepth);
				}
			}
			pDepthRow += rowSize;
			pTexRow += m_nTexMapX;
		}
//.........这里部分代码省略.........