void testApp::smoothKinect() {
Mat zMat(kinect.getHeight(), kinect.getWidth(), CV_32FC1, kinect.getDistancePixels());
int k = ((int) panel.getValueI("smoothingAmount") * 2) + 1;
zMat.copyTo(bfBuffer);
GaussianBlur(bfBuffer, zMat, cv::Size(k, k), 0);
}
/**
The matrices for each combination could be explicitly expanded
instead of using matrix multiplication.
*/
void Matrix4x4::FromEuler(float x, float y, float z, order_t order)
{
float xrad = x / 180.0f * 3.1415927f;
float sx = sinf(xrad);
float cx = cosf(xrad);
Matrix4x4 xMat(1.0, 0.0, 0.0, 0.0,
0.0, cx, -sx, 0.0,
0.0, sx, cx, 0.0,
0.0, 0.0, 0.0, 1.0);
float yrad = y / 180.0f * 3.1415927f;
float sy = sinf(yrad);
float cy = cosf(yrad);
Matrix4x4 yMat( cy, 0.0, sy, 0.0,
0.0, 1.0, 0.0, 0.0,
-sy, 0.0, cy, 0.0,
0.0, 0.0, 0.0, 1.0);
float zrad = z / 180.0f * 3.1415927f;
float sz = sinf(zrad);
float cz = cosf(zrad);
Matrix4x4 zMat( cz, -sz, 0.0, 0.0,
sz, cz, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0);
switch(order)
{
case kXYZ:
*this = zMat * (yMat * xMat);
break;
case kYXZ:
*this = zMat * (xMat * yMat);
break;
case kYZX:
*this = xMat * (zMat * yMat);
break;
case kXZY:
*this = yMat * (zMat * xMat);
break;
case kZYX:
*this = xMat * (yMat * zMat);
break;
case kZXY:
*this = yMat * (xMat * zMat);
break;
default:
*this = xMat * (yMat * zMat);
break;
}
}
