void game::loadDepth(std::string filename)
{
wxImage depthimage(filename, wxBITMAP_TYPE_PNG);
oceandepthbuffer = new float[2048];
for (unsigned i = 0; i < 2048; i++)
{
float xpos = i / 16.f;
oceandepthbuffer[i] = depthimage.GetRed(floorf(xpos), 0) * (floorf(xpos) - xpos) + depthimage.GetRed(ceilf(xpos), 0) * (1 - (floorf(xpos) - xpos))
;//+ depthimage.GetGreen(i % 256, 0) * 0.0625f;
oceandepthbuffer[i] = oceandepthbuffer[i] * 1.f - 180.f;
}
}
SceneGraph::DepthImageNode *GuiNodeFactory::createDepthImageNode(const QString &filename, SceneGraph::Node *parent)
{
if(!parent) return NULL;
Plugins::ImageIOInterface* imageio_plugin = mainapplication_.getPluginManager()->getImportImagePluginByFilename(filename);
if(!imageio_plugin) return NULL;
std::shared_ptr<DepthImage> depthimage(new DepthImage());
if(imageio_plugin->importDepthImage(filename,depthimage))
{
depthimage->normalize();
SceneGraph::DepthImageNode* pPointer = new SceneGraph::DepthImageNode(depthimage,parent);
pPointer->nodeUpdated(Totally_Dirty);
return pPointer;
}
return NULL;
}
//---------------------------------------------------------------
void testApp::update() {
ofBackground(100, 100, 100);
NUI_IMAGE_FRAME pImageFrame = {0};
NUI_LOCKED_RECT locked_rect = {0};
if(bKinectInitSucessful)
{
HRESULT hr=m_nui->NuiImageStreamGetNextFrame(depthStreamHandle,0,&pImageFrame);
if (SUCCEEDED(hr))
{
hr=pImageFrame.pFrameTexture->LockRect(0,&locked_rect,NULL,0);
if(locked_rect.Pitch!=0) {
// 将数据存入Mat中
cv::Mat depthimage(KINECT_HEIGHT,KINECT_WIDTH,CV_8UC1);
//cv::Mat depthimage2(KINECT_HEIGHT,KINECT_WIDTH,CV_8UC1);
if(test)
{
for (int i=0; i<depthimage.rows; i++)
{
uchar *ptr = depthimage.ptr<uchar>(i); //第i行的指针
//uchar *ptr2 = depthimage2.ptr<uchar>(i);
uchar *pBufferRun = (uchar*)(locked_rect.pBits) + i * locked_rect.Pitch;
USHORT *pBuffer = (USHORT*) pBufferRun;
for (int j=0; j<depthimage.cols; j++)
{
pBuffer[j]=pBuffer[j]>>3;
ptr[j]=(uchar)(256*pBuffer[j]/0x0fff); //直接将数据归一化处理
//ptr2[j]=(uchar)(256*depth_float[i*depthimage.cols+j]/0x0fff);
}
}
//test=false;
}
cv::imshow("orginal",depthimage);
//cv::imshow("sss",depthimage2);
cv::Mat depthimage_filter = depthimage.clone();
// 读取照片
#if 0
const int photonumMax = 1;
if(photonum < photonumMax)
{
char namebuffer[20];
sprintf(namebuffer,"%d.jpg",photonum);
string name = namebuffer;
depthimage_filter = cv::imread(name,CV_LOAD_IMAGE_GRAYSCALE);
++photonum;
}
#endif
// 滤波 双边滤波效果没出现（？）
//cv::medianBlur(depthimage,depthimage_filter,5);
//clock_t t1=clock();
cv::bilateralFilter(depthimage,depthimage_filter,11,20,20);
//clock_t t2=clock();
//double ti=(double)(t2-t1)/CLOCKS_PER_SEC;
//cout<<ti<<endl;
//cv::GaussianBlur(depthimage,depthimage_filter,cv::Size(5,5),0,0);
//cv::imshow("filter",depthimage_filter);
// 保存照片
#if 0
if(photonum < photonumMax)
{
char namebuffer[20];
sprintf(namebuffer,"%d.jpg",photonum);
string name = namebuffer;
cv::imwrite(name,depthimage);
++photonum;
}
#endif
// pyramid creat 高斯降采 论文中提到避免边界被平滑未处理（？）
//cv::Mat downmap1;
//cv::pyrDown(depthimage_filter,downmap1,cv::Size(depthimage_filter.cols/2,depthimage_filter.rows/2));
//cv::imshow("downonce",downmap1);
//cv::Mat downmap2;
//cv::pyrDown(downmap1,downmap2,cv::Size(downmap1.cols/2,downmap1.rows/2));
//cv::imshow("downtwice",downmap2);
// 滤波后深度数据提取与单位转换
//ofstream out;
//if(photonum < photonumMax&&test3)
//{
// char namebuffer[10];
// sprintf(namebuffer,"%d.txt",photonum);
// out.open(namebuffer,ios::trunc);
//}
for (int i=0; i<depthimage_filter.rows; i++)
{
uchar *ptr = depthimage_filter.ptr<uchar>(i); //第i行的指针
for (int j=0; j<depthimage_filter.cols; j++)
{
float s = (float)(ptr[j]*0x0fff)/256;
//if(s>2500&&s<2600)
//{
// cout<<s<<endl;
//}
depth_float[i*depthimage_filter.cols+j] = s/1000;//显示点云用，计算时要除1000，化为米单位
//if(test3)
// out<<s<<" ";
}
}
//out.close();
test3 = false;
// 试验区
ofMatrix4x4 tk=ofMatrix4x4(1,0,0,0,0,-1,0,0,0,0,1,0,0,0,0,1);
ofMatrix4x4 tk_next = tk;
ofVec4f camp = ofVec4f(0,0,0,1);
int size_g = TSDF_SIZE;
const int maxcountnum = 3;
if(countnum < maxcountnum)
{
//compute_tsdf(tk,depthimage,size_g,camp);
++ countnum;
if(countnum == maxcountnum)
test2 = true;
//}
//if(test2)
//{
//cv::imwrite("original.jpg",depthimage_filter);
//cout<<tk<<endl;
clock_t t1=clock();
compute_points(depthimage_filter,depthimage_filter.rows,depthimage_filter.cols,pointsmap_orignal);
compute_tsdf(tk_next,depthimage,size_g,camp);
compute_raycast(tk_next);
compute_normal(pointsmap_orignal,depthimage_filter.rows,depthimage_filter.cols,normalmap_orignal);
//compute_normal(pointsmap_final,depthimage_filter.rows,depthimage_filter.cols,normalmap_final);
for(int i = 0;i < 10; ++ i)
{
compute_pda(tk,i,tk_next);
}
camp = tk_next * camp;
tk = tk_next;
//changePosition(tk_next,pointsmap_orignal,normalmap_orignal);
clock_t t2=clock();
double ti=(double)(t2-t1)/CLOCKS_PER_SEC;
std::cout<<ti<<endl;
//test2=false;
}
// 转换坐标系为摄像机坐标系与法向
//changeType(depthimage_filter,depthimage_filter.rows,depthimage_filter.cols);//无用了
//compute_points(depthimage_filter,depthimage_filter.rows,depthimage_filter.cols,pointsmap_orignal);
//compute_points(downmap1,downmap1.rows,downmap1.cols,pointsmap_downonce);
//compute_points(downmap2,downmap2.rows,downmap2.cols,pointsmap_downtwice);
//
//compute_normal(pointsmap_orignal,depthimage_filter.rows,depthimage_filter.cols,normalmap_orignal);
//compute_normal(pointsmap_downonce,downmap1.rows,downmap1.cols,normalmap_downonce);
//compute_normal(pointsmap_downtwice,downmap2.rows,downmap2.cols,normalmap_downtwice);
if(bThreshWithOpenCV) {
} else {
}
}
m_nui->NuiImageStreamReleaseFrame(depthStreamHandle,&pImageFrame);
}
}
