C++ VideoFrameRef::getWidth方法代码示例

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)));
		}
	}
}

void convert_depth_map(const openni::VideoFrameRef &in, cv::Mat& out)
{
    const void *data = in.getData();
    int sizes[2] = {in.getHeight(), in.getWidth()};

    cv::Mat s1, s2, s3;
    s1 = cv::Mat(2, sizes, CV_16UC1, (void*)data);
	cv::normalize(s1, s2, 0, 255, CV_MINMAX, CV_8UC1);
    cv::cvtColor(s2,out, CV_GRAY2BGR);
	
	/*
		const nite::UserId* pLabels = map.getPixels();
	for (int y=0; y<map.getHeight(); ++y)
	{
		for (int x=0;x<map.getWidth(); ++x, ++pLabels)
		{
			uint16_t &v = s1.at<uint16_t>(cv::Point(x,y));
			if (!*pLabels)
				v = 0;
		}
	}
*/
	
//	cv::normalize(s1, out, 0, 255, CV_MINMAX, CV_8UC1);
}

/*
* 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);
     }
 }

 cv::Mat showDepthStream( const openni::VideoFrameRef& depthFrame )
 {
   // 距離データを画像化する(16bit)
   cv::Mat depthImage = cv::Mat( depthFrame.getHeight(),
                                depthFrame.getWidth(),
                                CV_16UC1, (unsigned short*)depthFrame.getData() );
   
   // 0-10000mmまでのデータを0-255(8bit)にする
   depthImage.convertTo( depthImage, CV_8U, 255.0 / 10000 );
   
   return depthImage;
 }

 // 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 )
 {
   // OpenCV の形に変換する
   cv::Mat 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 );
   
   return colorImage;
 }

            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 KinectCamera::paint(QPainter *painter)
{

    if (!fig)//如果设备未打开，先执行startcamera
    {
        startcamera();
          if(m_streamsource=="depth")
           {
              int iMaxDepth = mDepthStream.getMaxPixelValue();
              mDepthStream.readFrame( &mDepthFrame );
              const cv::Mat mImageDepth(
                          mDepthFrame.getHeight(), mDepthFrame.getWidth(),
                          CV_16UC1, (void*)mDepthFrame.getData() );
              cv::Mat mScaledDepth;
              mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
              QVector<QRgb>  colorTable;
              for(int k=0;k<256;++k)
              {
                  colorTable.push_back( qRgb(k,k,k) );
              }
              KinectDepthImage= QImage((const unsigned char*)mScaledDepth.data,mDepthFrame.getWidth(), mDepthFrame.getHeight(),QImage::Format_Indexed8);
              KinectDepthImage.setColorTable(colorTable);
              painter->drawImage(boundingRect().adjusted(1, 1, -1, -1),KinectDepthImage);
          }
          else
          {
              mColorStream.readFrame( &mColorFrame );
              KinectColorImage= QImage((const unsigned char*)mColorFrame.getData(),mColorFrame.getWidth(), mColorFrame.getHeight(),QImage::Format_RGB888);
              painter->drawImage(boundingRect().adjusted(1, 1, -1, -1),KinectColorImage);
          }
    }
    else//如果设备以打开，直接执行
    {
        if(m_streamsource=="depth")
        {
            int iMaxDepth = mDepthStream.getMaxPixelValue();
            mDepthStream.readFrame( &mDepthFrame );
            const cv::Mat mImageDepth(
                        mDepthFrame.getHeight(), mDepthFrame.getWidth(),
                        CV_16UC1, (void*)mDepthFrame.getData() );
            cv::Mat mScaledDepth;
            mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
            QVector<QRgb>  colorTable;
            for(int k=0;k<256;++k)
            {
                colorTable.push_back( qRgb(k,k,k) );
            }
            KinectDepthImage= QImage((const unsigned char*)mScaledDepth.data,mDepthFrame.getWidth(), mDepthFrame.getHeight(),QImage::Format_Indexed8);
            KinectDepthImage.setColorTable(colorTable);
            painter->drawImage(boundingRect().adjusted(1, 1, -1, -1),KinectDepthImage);
        }
        else
        {
            mColorStream.readFrame( &mColorFrame );
            KinectColorImage= QImage((const unsigned char*)mColorFrame.getData(),mColorFrame.getWidth(), mColorFrame.getHeight(),QImage::Format_RGB888);
            painter->drawImage(boundingRect().adjusted(1, 1, -1, -1),KinectColorImage);
        }

    }
}

 // 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 convert_pixel_map(const openni::VideoFrameRef &in, cv::Mat& out)
{
    const void *data = in.getData();
    int sizes[2] = {in.getHeight(), in.getWidth()};

    cv::Mat s1, &s2 = out;
    s1 = cv::Mat(2, sizes, CV_8UC3, (void *)data);
    cv::cvtColor(s1,s2, CV_RGB2BGR);
	
	/*
	const nite::UserId* pLabels = map.getPixels();
	for (int y=0; y<map.getHeight(); ++y)
	{
		for (int x=0;x<map.getWidth(); ++x, ++pLabels)
		{
			cv::Vec3b &v = s2.at<cv::Vec3b>(cv::Point(x,y));
			if (*pLabels == 0)
				v = cv::Vec3b(0,0,0);
		}
	}
	*/
}

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.........