Example #1
0
Channel16u mapDepthFrameToColor( const Channel16u& depth, ICoordinateMapper* mapper )
{
    size_t numPoints = depth.getWidth() * depth.getHeight();
    Channel16u channel( depth.getWidth(), depth.getHeight() );
    vector<ColorSpacePoint> colorSpacePoints( numPoints );
    long hr = mapper->MapDepthFrameToColorSpace( (UINT)numPoints, depth.getData(), numPoints, &colorSpacePoints[ 0 ] );
    if ( SUCCEEDED( hr ) ) {
        Channel16u::Iter iter = channel.getIter();
        size_t i = 0;
        while ( iter.line() ) {
            while ( iter.pixel() ) {
                Vec2i pos = Vec2i( toVec2f( colorSpacePoints[ i ] ) );
                uint16_t v = 0x0000;
                if ( pos.x >= 0 && pos.x < depth.getWidth() && pos.y >= 0 && pos.y < depth.getHeight() ) {
                    v = depth.getValue( pos );
                }
                iter.v() = v;
            }
        }
    }
    return channel;
}
Example #2
0
	const vector<ivec2>& CinderDSAPI::mapDepthToColorFrame()
	{
		mDepthToColor.clear();
		Channel16u::Iter cIter = mDepthFrame.getIter();
		while (cIter.line())
		{
			while (cIter.pixel())
			{
				float cZ[3]{static_cast<float>(cIter.x()),
					static_cast<float>(cIter.y()),
					static_cast<float>(cIter.v())
				};

				float cRgb[2]{0};
				DSTransformFromZImageToRectOtherImage(mZIntrinsics, mZToRgb, mRgbIntrinsics, cZ, cRgb);
				mDepthToColor.push_back(ivec2((int)cRgb[0], (int)cRgb[1]));
			}
		}

		return mDepthToColor;
	}