Example #1
0
void GeneratePointCloud(DepthGenerator& rDepthGen, const XnDepthPixel* pDepth, VISION_DATA &pData)
{
    DepthMetaData mDepthMD;
    rDepthGen.GetMetaData(mDepthMD);
    pData.timeStamp = mDepthMD.Timestamp();
    unsigned int uPointNum = mDepthMD.FullXRes() * mDepthMD.FullYRes();

    XnPoint3D* pDepthPointSet = new XnPoint3D[uPointNum];
    unsigned int i, j, idxshift, idx;
    for( j = 0; j < mDepthMD.FullYRes(); ++j)
    {
        idxshift = j * mDepthMD.FullXRes();

        for(i = 0; i < mDepthMD.FullXRes(); ++i)
        {
            idx = idxshift + i;
            pDepthPointSet[idx].X = i;
            pDepthPointSet[idx].Y = j;
            pDepthPointSet[idx].Z = pDepth[idx];
        }
    }

    XnPoint3D* p3DPointSet = new XnPoint3D[uPointNum];

    rDepthGen.ConvertProjectiveToRealWorld(uPointNum, pDepthPointSet, p3DPointSet);

    memcpy(pData.pointCloud, p3DPointSet, uPointNum*3*sizeof(float));

    delete[] pDepthPointSet;

    delete[] p3DPointSet;
}
Example #2
0
//----------------------------------------------------
// マウスのクリック処理
//----------------------------------------------------
void glutMouse(int button, int state, int _x, int _y){
	int x = _x, y = _y;
	XnPoint3D pt[2] = {{0,0,0},{0,0,0}};

	// サイズが違う場合,680*480に標準化する
	if(!(g_currentWindowSizeX == KINECT_IMAGE_WIDTH && g_currentWindowSizeY == KINECT_IMAGE_HEIGHT)){
		x = 640 * _x / g_currentWindowSizeX;
		y = 480 * _y / g_currentWindowSizeY;
	}

	if(state == GLUT_DOWN){
		if(button == GLUT_LEFT_BUTTON){			// 左クリック
			cout << "click! (" << _x << ", " << _y << ")->(" << x << ", " << y << "), depth = " << *(g_depthMD.Data() + y * KINECT_IMAGE_WIDTH + x) << endl;
			pt[0].X = _x;
			pt[0].Y = _y;
			pt[0].Z = *(g_depthMD.Data() + y * KINECT_IMAGE_WIDTH + x);
			//cout << "(_x, _y) -> (x, y) = (" << _x << ", " << _y << ") -> (" << x << ", " << y << ")" << endl;

			g_depth.ConvertProjectiveToRealWorld(2, pt, pt);

			cout << "change pt[0] => (" << pt[0].X << ", " << pt[0].Y << ", " << pt[0].Z << ")" << endl;
		}else if(button == GLUT_RIGHT_BUTTON){	// 右クリック
			cout << "click! back = (" << x << ", " << y << ") depth = " << *(g_pBackDepth + y * KINECT_IMAGE_WIDTH + x) << endl;
			pt[1].X = _x;
			pt[1].Y = _y;
			pt[1].Z = *(g_pBackDepth + y * KINECT_IMAGE_WIDTH + x);

			g_depth.ConvertProjectiveToRealWorld(2, pt, pt);

			cout << "change pt[1] => (" << pt[1].X << ", " << pt[1].Y << ", " << pt[1].Z << ")" << endl;
		}

		//g_depth.ConvertProjectiveToRealWorld(2, pt, pt);

		//cout << "change pt[0] => (" << pt[0].X << ", " << pt[0].Y << ", " << pt[0].Z << ")" << endl;
		//cout << "change pt[1] => (" << pt[1].X << ", " << pt[1].Y << ", " << pt[1].Z << ")" << endl;
	}
}