int OpencvModule::DrawDepth(DepthMetaData& g_depthMD){
if (!cvGetWindowHandle("Caremedia Kinect Viewer")) // if(window has been closed)
{
if (windowopened) {windowopened=false; return 0; }
else windowopened = true;
}
int key=0;
//for opencv Mat, accessing buffer
Mat depth16(480,640,CV_16UC1,(unsigned short*)g_depthMD.WritableData());
depth16.convertTo(depth8,CV_8U,-255/4096.0,255);
Pseudocolor->pseudocolor(depth8,rgbdepth);
//CvFont font;
//cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0, 1, CV_AA);
float aux=((float)g_depthMD.Timestamp())/1E6;
QVariant time_double(aux);
QTime t = videostarttime.addSecs((int)aux).addMSecs((int)(aux - (int)aux ) * 1000);
float percent = (float)100*(float)g_depthMD.FrameID() / (float)NumFrames;
QString a;
putText(rgbdepth,"Time:"+t.toString().toStdString(), cvPoint(460,30),5,1,cvScalar(255, 255, 255, 0),1,1);
putText(rgbdepth, a.setNum(percent,'f',2).append("%").toStdString(), cvPoint(5,30),6,0.6,cvScalar(255, 255, 255, 0),1,1);
imshow("Caremedia Kinect Viewer",rgbdepth);
key = waitKey(5);
}
bool pointerNextFrame(int &xInOut, int &yInOut, int &zInOut)
{
rs::device & dev = *app_state.dev;
if (dev.is_streaming()) dev.wait_for_frames();
auto t1 = std::chrono::high_resolution_clock::now();
nexttime += std::chrono::duration<float>(t1 - t0).count();
t0 = t1;
++frames;
if (nexttime > 0.5f)
{
fps = frames / nexttime;
frames = 0;
nexttime = 0;
}
const rs::stream tex_stream = app_state.tex_streams[app_state.index];
app_state.depth_scale = dev.get_depth_scale();
app_state.extrin = dev.get_extrinsics(rs::stream::depth, tex_stream);
app_state.depth_intrin = dev.get_stream_intrinsics(rs::stream::depth);
app_state.tex_intrin = dev.get_stream_intrinsics(tex_stream);
app_state.identical = app_state.depth_intrin == app_state.tex_intrin && app_state.extrin.is_identity();
// setup the OpenCV Mat structures
cv::Mat depth16(app_state.depth_intrin.height, app_state.depth_intrin.width, CV_16U, (uchar *)dev.get_frame_data(rs::stream::depth));
rs::intrinsics color_intrin = dev.get_stream_intrinsics(rs::stream::color);
cv::Mat rgb(color_intrin.height, color_intrin.width, CV_8UC3, (uchar *)dev.get_frame_data(rs::stream::color));
// ignore depth greater than 800 mm's.
depth16.setTo(10000, depth16 > 800);
depth16.setTo(10000, depth16 == 0);
cv::Mat depth8u = depth16 < 800;
cv::Point handPoint(0, 0);
for (int y = 0; y < depth8u.rows; ++y)
{
uchar *d = depth8u.row(y).ptr();
for (int x = 0; x < depth8u.cols; ++x)
{
if (d[x])
{
int floodCount = cv::floodFill(depth8u, cv::Point(x, y), 255);
// we have found the top most point
if (floodCount > 100)
{
handPoint = cv::Point(x, y);
break;
}
}
}
if (handPoint != cv::Point(0, 0)) break;
}
if (handPoint != cv::Point(0, 0))
cv::circle(depth8u, handPoint, 10, 128, cv::FILLED);
imshow("depth8u", depth8u);
cv::cvtColor(rgb, rgb, cv::COLOR_BGR2RGB);
imshow("rgb", rgb);
xInOut = handPoint.x;
yInOut = handPoint.y;
zInOut = 0; // not using this yet.
if (handPoint == cv::Point(0, 0)) return false;
return true;
}
