本文整理汇总了C++中xn::SceneMetaData类的典型用法代码示例。如果您正苦于以下问题：C++ SceneMetaData类的具体用法？C++ SceneMetaData怎么用？C++ SceneMetaData使用的例子？那么, 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SceneMetaData类的14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，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: getUserLabelImage
void getUserLabelImage(xn::SceneMetaData& sceneMD, cv::Mat& label_image)
{
int rows = sceneMD.GetUnderlying()->pMap->Res.Y;
int cols = sceneMD.GetUnderlying()->pMap->Res.X;
// Data is 16-bit user labels
cv::Mat tempmat(rows, cols, CV_16U);
tempmat.data = (uchar*) sceneMD.GetUnderlying()->pData;
// Convert to 8-bit (we never have more than 8-10 users anyway)
tempmat.convertTo(label_image, CV_8U);
}示例2: SegmentUser
void SegmentUser(XnUserID user, cv::Mat *input, const xn::SceneMetaData& smd)
{
const XnLabel* pLabels = smd.Data();
for(int y = 0; y < input->rows; y++) {
unsigned char *row = input->ptr<unsigned char>(y);
for (int x = 0; x < input->cols; x++) {
XnLabel label = *pLabels++;
if (label != user) {
*row++ = 0;
*row++ = 0;
*row++ = 0;
} else {
row+=3;
}
}
}
}示例3: 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.........
示例4: 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.........
示例5: 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);
}示例6: 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.........
示例7: 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";
// }
}示例8: 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.........
示例9: DrawDepthMap
void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd, XnUserID player, xn::ImageMetaData& imd)
{
texWidth = 640;
texHeight = 480;
LEFT = 0; RIGHT = 640;
TOP = 0; BOTTOM = 480;
nValue = 0;
nIndex = 0;
nX = 0; nY = 0;
nNumberOfPoints = 0;
g_nXRes = dmd.XRes();
g_nYRes = dmd.YRes();
pDestImage = pDepthTexBuf;
pDepth = dmd.Data();
pixel = imd.RGB24Data();
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)));
}
}
// printf("Debug: %i\n",focus);
pDepth = (short unsigned int*)dmd.Data();
///{
// Prepare the texture map
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX < g_nXRes; nX++)
{
nValue = *pDepth;
if(nX == (int)centerScreen[0] && nY == (int)centerScreen[1]){
if (calibrationMode){
depthVal = nValue;
// printf("depthVal: %i\n",depthVal);
}
}
//printf("Depth: %i \n",nValue);
label = *pLabels;
// XnUInt32 nColorID = label % nColors;
if (label != focus)
{
if(calibrationMode){
pDestImage[0] = pixel->nRed;
pDestImage[1] = pixel->nGreen;
pDestImage[2] = pixel->nBlue;
pDestImage[3] = 255;
} else {
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
pDestImage[3] = 0;
}
} else {
pDestImage[0] = pixel->nRed;
pDestImage[1] = pixel->nGreen;
pDestImage[2] = pixel->nBlue;
pDestImage[3] = 255;
//find max/min values for width and height boundaries
if (nX > (unsigned int)LEFT) {
LEFT = nX;
}
if (nX < (unsigned int)RIGHT) {
RIGHT = nX;
}
if (nY > (unsigned int)TOP) {
TOP = nY;
//.........这里部分代码省略.........
示例10: DumpDepthMap
void DepthMapLogger::DumpDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd)
{
static char name_str[20], comment_str[255];
// Don't do anything if the h5 file is not open
if(!p_h5_file_ || !p_frames_group_) { return; }
// References to various bits of the HDF5 output
H5File &file(*p_h5_file_);
Group &frames_group(*p_frames_group_);
// This frame's index is the number of frames we've previously saved
hsize_t this_frame_idx = frames_group.getNumObjs();
// Create this frame's group
snprintf(name_str, 20, "frame_%06lld", this_frame_idx);
snprintf(comment_str, 255, "Data for frame %lld", this_frame_idx);
Group this_frame_group(frames_group.createGroup(name_str));
this_frame_group.setComment(".", comment_str);
// Create attributes for this group
Attribute idx_attr = this_frame_group.createAttribute("idx", PredType::NATIVE_HSIZE, DataSpace());
idx_attr.write(PredType::NATIVE_HSIZE, &this_frame_idx);
// Create this frame's datasets
DSetCreatPropList creat_props;
uint16_t fill_value(0);
creat_props.setFillValue(PredType::NATIVE_UINT16, &fill_value);
hsize_t rows(static_cast<hsize_t>(dmd.YRes())), cols(static_cast<hsize_t>(dmd.XRes()));
hsize_t creation_dims[2] = { rows, cols };
hsize_t max_dims[2] = { rows, cols };
DataSpace mem_space(2, creation_dims, max_dims);
DataSet depth_ds(this_frame_group.createDataSet(
"depth", PredType::NATIVE_UINT16, mem_space, creat_props));
DataSet label_ds(this_frame_group.createDataSet(
"label", PredType::NATIVE_UINT16, mem_space, creat_props));
// Get depth and label buffers
const uint16_t *p_depths = dmd.Data();
const uint16_t *p_labels = smd.Data();
// Write depth data
depth_ds.write(p_depths, PredType::NATIVE_UINT16);
// Write label data
label_ds.write(p_labels, PredType::NATIVE_UINT16);
// Convert non-zero depth values into 3D point positions
XnPoint3D *pts = new XnPoint3D[rows*cols];
uint16_t *pt_labels = new uint16_t[rows*cols];
size_t n_pts(0);
for(size_t depth_idx(0); depth_idx < rows*cols; ++depth_idx) {
// Skip zero depth values
if(p_depths[depth_idx] == 0) {
continue;
}
// Store projective-values
pts[n_pts].X = depth_idx % cols;
pts[n_pts].Y = depth_idx / cols;
pts[n_pts].Z = p_depths[depth_idx];
pt_labels[n_pts] = p_labels[depth_idx];
++n_pts;
}
g_DepthGenerator.ConvertProjectiveToRealWorld(n_pts, pts, pts);
if (n_pts > 0)
{
// Create points dataset
hsize_t pts_creation_dims[2] = { n_pts, 3 };
hsize_t pts_max_dims[2] = { n_pts, 3 };
DataSpace pts_mem_space(2, pts_creation_dims, pts_max_dims);
DataSet pts_ds(this_frame_group.createDataSet(
"points", PredType::NATIVE_FLOAT, pts_mem_space, creat_props));
hsize_t pt_labels_creation_dims[1] = { n_pts };
hsize_t pt_labels_max_dims[1] = { n_pts };
DataSpace pt_labels_mem_space(1, pt_labels_creation_dims, pt_labels_max_dims);
DataSet pt_labels_ds(this_frame_group.createDataSet(
"point_labels", PredType::NATIVE_UINT16, pt_labels_mem_space, creat_props));
// Write points data
pts_ds.write(pts, PredType::NATIVE_FLOAT);
pt_labels_ds.write(pt_labels, PredType::NATIVE_UINT16);
}
// Create groups to store detected users
Group users_group(this_frame_group.createGroup("users"));
// Dump each user in turn
char strLabel[50] = "";
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i)
{
// Create a group for this user
snprintf(name_str, 20, "user_%02d", aUsers[i]);
Group this_user_group(users_group.createGroup(name_str));
//.........这里部分代码省略.........
示例11: depthMapCreating
void SceneDrawer::depthMapCreating(unsigned char *pDestImage, const xn::DepthMetaData &dmd, const xn::SceneMetaData &smd)
{
unsigned int nNumberOfPoints = 0;
XnUInt16 g_nXRes = dmd.XRes();
XnUInt16 g_nYRes = dmd.YRes();
const XnDepthPixel* pDepth = dmd.Data();
const XnLabel* pLabels = smd.Data();
unsigned int nValue = 0;
static unsigned int nZRes = dmd.ZRes();
static float* pDepthHist = (float*)malloc(nZRes* sizeof(float));
// Calculate the accumulative histogram
memset(pDepthHist, 0, nZRes*sizeof(float));
for (int nY=0; nY<g_nYRes; nY++)
for (int nX=0; nX<g_nXRes; nX++)
{
nValue = *pDepth;
if (nValue != 0)
{
pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
for (int i=1; i<nZRes; i++)
pDepthHist[i] += pDepthHist[i-1];
if (nNumberOfPoints)
for (int i=1; i<nZRes; i++)
pDepthHist[i] = (unsigned int)(256 * (1.0f - (pDepthHist[i] / nNumberOfPoints)));
pDepth = dmd.Data();
// Prepare the texture map
for (int nY=0; nY<g_nYRes; nY++)
{
for (int nX=0; nX < g_nXRes; nX++)
{
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
if (drawBackground || *pLabels != 0)
{
nValue = *pDepth;
XnLabel label = *pLabels;
XnUInt32 nColorID = label % nColors;
if (label == 0)
nColorID = nColors;
if (nValue != 0)
{
pDestImage[0] = pDepthHist[nValue] * Colors[nColorID][0];
pDestImage[1] = pDepthHist[nValue] * Colors[nColorID][1];
pDestImage[2] = pDepthHist[nValue] * Colors[nColorID][2];
}
}
pDepth++;
pLabels++;
pDestImage+=3;
}
pDestImage += (Width - g_nXRes) *3;
}
}示例12: DrawDepthMapWithUsers
void SimKinect::DrawDepthMapWithUsers(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd)
{
static bool bInitialized = false;
//image used in opencv;
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());
pDepthTexBuf = (unsigned char*)malloc(dmd.XRes()*dmd.YRes()*3*sizeof(unsigned char));
// printf("Initializing 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;
}
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 nXRes = dmd.XRes();
XnUInt16 nYRes = dmd.YRes();
unsigned char* pDestImage = pDepthTexBuf;
const XnDepthPixel* pDepth = dmd.Data();
const XnLabel* pLabels = smd.Data();
int* p_depth_map = depth_map;
//Calculate the accumulative histogram
memset(pDepthHist, 0, MAX_DEPTH*sizeof(float));
for (nY=0; nY<nYRes; nY++)
{
for (nX=0; nX<nXRes; nX++)
{
nValue = *pDepth;
*p_depth_map++ = nValue;
if (nValue != 0)
{
pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
pDepthHist[nIndex] += pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (pDepthHist[nIndex] / nNumberOfPoints)));
}
}
pDepth = dmd.Data();
if (bDrawPixels)
{
// Prepare the texture map
for (nY=0; nY<nYRes; nY++)
{
for (nX=0; nX < nXRes; nX++)
{
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
if (bDrawBackground || *pLabels != 0)
{
nValue = *pDepth;
XnLabel label = *pLabels;
XnUInt32 nColorID = label % nColors;
if (label == 0)
{
nColorID = nColors;
}
if (nValue != 0)
{
//.........这里部分代码省略.........
示例13: 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.........
示例14: DrawDepthMap
void Gestures::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( 1280 );
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(m_texcoords, 0, 8*sizeof(float));
m_texcoords[0] = texXpos, m_texcoords[1] = texYpos, m_texcoords[2] = texXpos, m_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(m_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)
{
m_pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
m_pDepthHist[nIndex] += m_pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
m_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (m_pDepthHist[nIndex] / nNumberOfPoints)));
}
}
pDepth = dmd.Data();
if (m_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 (m_bDrawBackground || *pLabels != 0)
{
nValue = *pDepth;
XnLabel label = *pLabels;
XnUInt32 nColorID = label % m_nColors;
if (label == 0)
{
//.........这里部分代码省略.........