void UserTracker::FillTexture(unsigned char* pTexBuf, XnUInt16 nTexWidth, XnUInt16 /*nTexHeight*/, XnBool bDrawBackground)
{
// get the size of the depth map and its pixels.
XnUInt16 xRes,yRes;
GetImageRes(xRes, yRes);
const XnDepthPixel* pDepth = GetDepthData(); // holds the depth map, i.e. the depth for each pixel
CalcHistogram(pDepth, xRes, yRes);
XnDepthPixel nValue; // will hold temporary pixel values.
const XnLabel* pLabels = GetUsersPixelsData(); // holds a label map, i.e. the label (user ID) for each pixel
// Prepare the texture map, i.e. go over all relevant elements and set their value based
// on the depth and user.
// NOTE: we go over the original map and the assumption is that the texture size is equal or larger
// to the depth map resolution and that anything larger (e.g. because we increase to the closest,
// larger power of two) is not changed (therefore will remain whatever color was set before which
// in the initialization is probably 0).
for (XnUInt16 nY=0; nY<yRes; nY++)
{
for (XnUInt16 nX=0; nX < xRes; nX++)
{
// init to 0 (just in case we don't have better data.
pTexBuf[0] = 0;
pTexBuf[1] = 0;
pTexBuf[2] = 0;
// if pLabels is 0 it is background. Therefore we only set the color of the background
// if bDrawBackground is true.
if (bDrawBackground || *pLabels != 0)
{
nValue = *pDepth; // the depth of the current pixel
XnLabel label = *pLabels; // the label of the current pixel
XnUInt32 nColorID = label % s_nColors; // the color for the current label
if (label == 0)
{
nColorID = s_nColors; // special background color
}
if (nValue != 0)
{
XnFloat newValue = s_pDepthHist[nValue]; // translate to the multiplier from the histogram
pTexBuf[0] = (unsigned char)(newValue * s_Colors[nColorID][0]);
pTexBuf[1] = (unsigned char)(newValue * s_Colors[nColorID][1]);
pTexBuf[2] = (unsigned char)(newValue * s_Colors[nColorID][2]);
}
}
pDepth++;
pLabels++;
pTexBuf+=3; // each element is RGB so we move 3 at a time.
}
pTexBuf += (nTexWidth - xRes) *3; // move to the next line
}
}
bool InputStream::filterStatistic(int data_delta)
{
bool isData = GetDepthData(raw, width * height, min_depth, max_depth);
if (!isData)
return false;
for (int i = 0; i < width * height; i++)
{
uint16_t b = raw[i];
uint16_t avg = 0;
for (int k = 0; k < history_scan_depth; k++)
{
avg += history[k * width * height + i];
}
average[i] = avg / history_scan_depth;
if (abs(b - average[i]) < data_delta) {
filtered_statistic[i] = b;
}
history[current * width * height + i] = b;
}
current ++;
if (current == history_scan_depth) {
current = 0;
}
return true;
}
