C++ VideoFrameRef::getVideoMode方法代码示例

void ColorStream::setPixels(openni::VideoFrameRef frame)
{
    Stream::setPixels(frame);

    openni::VideoMode m = frame.getVideoMode();

    int w = m.getResolutionX();
    int h = m.getResolutionY();
    int num_pixels = w * h;

    pix.allocate(w, h, 3);

    if (m.getPixelFormat() == openni::PIXEL_FORMAT_RGB888)
    {
        const unsigned char *src = (const unsigned char*)frame.getData();
        unsigned char *dst = pix.getBackBuffer().getPixels();

        for (int i = 0; i < num_pixels; i++)
        {
            dst[0] = src[0];
            dst[1] = src[1];
            dst[2] = src[2];
            src += 3;
            dst += 3;
        }
    }

    pix.swap();
}

            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() );
                }
            }

// CV_16U
cv::Mat getDepthImage(openni::VideoFrameRef& depth_frame)
{
  if(!depth_frame.isValid())
  {
    return cv::Mat();
  }

  openni::VideoMode video_mode = depth_frame.getVideoMode();
  cv::Mat depth_img = cv::Mat(video_mode.getResolutionY(),
                              video_mode.getResolutionX(),
                              CV_16U, (char*)depth_frame.getData());

  return depth_img.clone();
}

cv::Mat getColorImage(openni::VideoFrameRef& color_frame)
{
  if(!color_frame.isValid())
  {
    return cv::Mat();
  }
  openni::VideoMode video_mode = color_frame.getVideoMode();
  cv::Mat color_img = cv::Mat(video_mode.getResolutionY(),
                              video_mode.getResolutionX(),
                              CV_8UC3, (char*)color_frame.getData());
  cv::Mat ret_img;
  cv::cvtColor(color_img, ret_img, CV_RGB2BGR);
  return ret_img;
}

 // カラーストリームを表示できる形に変換する
 cv::Mat showColorStream( const openni::VideoFrameRef& colorFrame )
 {
   cv::Mat colorImage;
   
   // Color ストリーム
   if ( colorFrame.getVideoMode().getPixelFormat() ==
       openni::PIXEL_FORMAT_RGB888 ) {
     // OpenCV の形に変換する
     colorImage = cv::Mat( colorFrame.getHeight(),
                          colorFrame.getWidth(),
                          CV_8UC3, (unsigned char*)colorFrame.getData() );
     
     // BGR の並びを RGB に変換する
     cv::cvtColor( colorImage, colorImage, CV_RGB2BGR );
   }
   // Xtion IR ストリーム
   else if ( colorFrame.getVideoMode().getPixelFormat() ==
            openni::PIXEL_FORMAT_GRAY16 ) {
     // XitonのIRのフォーマットは16bitグレースケール
     // 実際は255諧調らしく、CV_8Uに落とさないと見えない
     colorImage = cv::Mat( colorFrame.getHeight(),
                          colorFrame.getWidth(),
                          CV_16UC1, (unsigned short*)colorFrame.getData() );
     colorImage.convertTo( colorImage, CV_8U );
   }
   // Kinect for Windows IR ストリーム
   else {
     // KinectのIRのフォーマットは8bitグレースケール
     // Kinect SDKは16bitグレースケール
     colorImage = cv::Mat( colorFrame.getHeight(),
                          colorFrame.getWidth(),
                          CV_8UC1, (unsigned char*)colorFrame.getData() );
   }
   
   return colorImage;
 }

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.........