bool SavePng(std::string filename, const DepthImage& img)
{
// Open up a file for writing
FILE* output = fopen(filename.c_str(), "wb");
if (output == NULL)
{
printf("Failed to open PNG file for writing (errno = %i)\n", errno);
return false;
}
// Create a png pointer with the callbacks above
png_structp png_ptr = png_create_write_struct(
PNG_LIBPNG_VER_STRING, NULL, on_png_error, on_png_warn);
if (png_ptr == NULL)
{
fprintf(stderr, "Failed to allocate png write_struct\n");
fclose(output);
return false;
}
// Create an info pointer
png_infop info_ptr = png_create_info_struct(png_ptr);
if (info_ptr == NULL)
{
fprintf(stderr, "Failed to create png info_struct");
png_destroy_write_struct(&png_ptr, &info_ptr);
fclose(output);
return false;
}
// Set physical vars
png_set_IHDR(png_ptr, info_ptr, img.cols(), img.rows(), 16,
PNG_COLOR_TYPE_GRAY, PNG_INTERLACE_NONE,
PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE);
png_init_io(png_ptr, output);
const float zmax = img.maxCoeff();
const float zmin = (img == -std::numeric_limits<float>::infinity())
.select(DepthImage::Constant(img.rows(), img.cols(), zmax),
img)
.minCoeff();
auto scaled = (zmax == zmin)
? DepthImage((img - zmin) + 65535)
: DepthImage((img - zmin) * 65534 / (zmax - zmin) + 1);
Eigen::Array<uint16_t, Eigen::Dynamic, Eigen::Dynamic>
pixels = scaled.cast<uint16_t>().transpose();
std::vector<uint16_t*> rows;
for (int i=pixels.cols() - 1; i >= 0; --i)
{
rows.push_back(pixels.data() + i * pixels.rows());
}
png_set_rows(png_ptr, info_ptr, reinterpret_cast<png_bytepp>(&rows[0]));
png_write_png(png_ptr, info_ptr, PNG_TRANSFORM_SWAP_ENDIAN, NULL);
fclose(output);
png_destroy_write_struct(&png_ptr, &info_ptr);
return true;
}
void MyKinect::ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth)
{//处理深度，并修复,产生掩码
#ifdef DEBUG
MyTime mt;
mt.Reset();
mt.Start();
#endif
// Make sure we've received valid data
if (m_pDepthRGBX && pBuffer && (nWidth == cDepthWidth) && (nHeight == cDepthHeight))
{
depthFrames++;
cout << "depthFrames第" << depthFrames << "帧" << endl;
RGBQUAD* pRGBX = m_pDepthRGBX;
const UINT16* pBufferEnd = pBuffer + (nWidth * nHeight);
int k1 = 0, k2 = 0; int k3 = 0, k4 = 0;
Mat inpaintResult;//修图结果
Mat inpaintMask;//掩码
Mat badMask;//错误点的掩码
badMask = Mat::zeros(Size(nWidth, nHeight), CV_8U);
inpaintMask = Mat::zeros(Size(nWidth, nHeight), CV_8U);
/*uchar * inpaintDataMask = inpaintMask.data;
uchar * badMaskData = badMask.data;//标记当前帧 错误点掩码
uchar * depthMat_LastData= m_pDepthMat_Last.data;
uchar * depthMat_LastDataMask = m_pDepthMat_LastMask.data;//前景的掩码
*/
/* int a = m_pDepthMat_Last.channels();
int b = m_pDepthMat_LastMask.channels();
int c = badMask.channels();
int d = inpaintMask.channels();
cout << a << " " << b << " " << c << " " << d << endl;
*/
//考虑到mat字节对齐，改为for
for (int i = 0; i < nHeight;i++)
{
uchar * inpaintDataMask = inpaintMask.ptr<uchar>(i);
uchar * badMaskData = badMask.ptr<uchar>(i);//标记当前帧 错误点掩码
uchar * depthMat_LastData = m_pDepthMat_Last.ptr<uchar>(i);
uchar * depthMat_LastDataMask = m_pDepthMat_LastMask.ptr<uchar>(i);//前景的掩码
for (int j = 0; j < nWidth;j++)
{
USHORT depth = *pBuffer;
bool maskOfPixel = 0;
if (depth <= 0)//must error pixels
{
depth = 0;
badMaskData[j] = (uchar)255;
maskOfPixel = 1;
k1++;
}
if (depth > 4500) k2++;
depth = depth >> 4;//如何最好的将 450 -- 5500映射到 0 -255里面
//有大量=0的点，2W多 ,
if (depth >= 255) {//掩码赋值
depth = 255;
}
BYTE intensity = static_cast<BYTE>(depth);
//用上一帧修正
if (maskOfPixel)
{//深度有误
k3++;
//上一帧的修复只能对背景用，不能对运动的用
//if ((depthMat_LastDataMask[j]) == 0)//是背景
//重要的地方就是 人运动的边缘，而这都是前景区域了。
{//这两个是8u3c的
intensity = (depthMat_LastData[j*3]);//采用上一帧
}
if (intensity == 0)// || intensity == 255))//结果表明 摄像头固定，有的点会一直错误
{//上一帧也是错误点，且没修复,接着修复
inpaintDataMask[j] = (uchar)255;
k4++;
}
}
pRGBX->rgbRed = intensity;
pRGBX->rgbGreen = intensity;
pRGBX->rgbBlue = intensity;
++pRGBX;
++pBuffer;
}
}
// std::cout << setw(5)<< k1 << setw(5) << k2 <<"为0点："<<setw(5)<<k3<<" 修正："<<setw(5)<<k4<<" "<<" "<<std::endl ;
//复制上一帧
// memcpy( m_pDepthRGBX_Last,m_pDepthRGBX, sizeof(RGBQUAD)*cDepthHeight*cDepthWidth);
// Draw the data with OpenCV
Mat DepthImage(nHeight, nWidth, CV_8UC4, m_pDepthRGBX);
//imshow("orignal", DepthImage);
//cvMoveWindow("orignal",0,0);
Mat depthImageRGB;
cvtColor(DepthImage,depthImageRGB,CV_RGBA2RGB);
cv::inpaint(depthImageRGB, inpaintMask, inpaintResult, 3, CV_INPAINT_TELEA);// CV_INPAINT_NS);//空洞太大了效果不好
//使用了inpaint后，就是第一帧会修复，其他的都不会修复了。
// imshow("inpaint", inpaintResult);
// cvMoveWindow("inpaint", 500, 0);
//cvSmooth(&inpaintResult, &m_pDepthMat_Last);这是c格式的支持cvmat的，下面的才是c++的
// Mat blurMat;
// blur(inpaintResult, blurMat, Size(3, 3), Point(-1, -1)); //Size( w,h ):
// imshow("blur", blurMat);
//cvMoveWindow("blur",500,500);
//2015-5-10 晚 ，修改为缩小版
cv::resize(m_pDepthMat_Last, m_pDepthMat_Last_Resize, cv::Size(cDepthWidth_RESIZE, cDepthHeight_RESIZE));
//对 fuliye版本 调整位置
cv::GaussianBlur(inpaintResult, m_pDepthMat_Last, Size(3, 3), 0,0); //Size( w,h ):
// m_pDepthMat_Last = inpaintResult.clone();//保存上一帧
// imshow("gaussianBlur", m_pDepthMat_Last);
//cvMoveWindow("gaussianBlur",0,500);
// cvMoveWindow("gaussianBlur", 0, 0);
// cvWaitKey(1);
// cout << "m_pDepthMat_Last :" << m_pDepthMat_Last.channels();
Mat foreMat;//提取前景
//m_pDepthBackProcess.process_Mog2(m_pDepthMat_Last, foreMat);
// m_pDepthBackProcess.depthProcessBackGround(m_pDepthMat_Last, m_pDepthMat_LastMask);
// m_pDepthBackProcess.testManyMethod(m_pDepthMat_Last, foreMat);
m_pDepthBackProcess.depthProcessBackGround(m_pDepthMat_Last_Resize, m_pDepthMat_LastMask_Resize);
/*
测试分割
ImageSegment iseg;
m_pTempshow=iseg.regiongrowthIndepth3(m_pDepthMat_Last, m_pDepthMat_LastMask);
*/
/* if( (foreMat.rows !=0 )&& (foreMat.cols !=0))
{
m_pDepthMat_LastMask = foreMat.clone();//保存前景的掩码
}*/
// cout <<"通道数目"<< inpaintResult.channels();
// BaseImageTools::SaveDepthImageToAVI(inpaintResult, nWidth, nHeight, depthWriter);
// BaseImageTools::SaveDepthImageToAVI(inpaintResult, nWidth, nHeight, depthWriter2);
//BaseImageTools::SaveDepthImageToAVI(DepthImage, nWidth, nHeight, depthWriter);
/* Mat show = DepthImage.clone();
imshow("DepthImage2", show);
*/
}
bool ofxDepthImageSequence::loadSequence(string newSequenceDirectory){
ofDirectory sequenceList(newSequenceDirectory);
if(!sequenceList.exists()){
ofLogError("ofxDepthImageSequence -- sequence directory " + newSequenceDirectory + " does not exist!");
return false;
}
if(sequenceLoaded){
images.clear();
sequenceLoaded = false;
}
sequenceList.allowExt("png");
int numFiles = sequenceList.listDir();
if(numFiles == 0){
ofLogError("ofxTLDepthImageSequence -- sequence directory " + newSequenceDirectory + " is empty!");
return false;
}
bool checkedForTimestamp = false;
unsigned long firstFrameTimeOffset = 0;
for(int i = 0; i < numFiles; i++){
//backwards compat...
if(sequenceList.getName(i).find("poster") != string::npos){
ofLogWarning("discarding poster frame " + sequenceList.getPath(i) );
continue;
}
if(!checkedForTimestamp){
framesHaveTimestamps = sequenceList.getName(i).find("millis") != string::npos;
checkedForTimestamp = true;
ofLogVerbose("Frames have timestamps? " + string((framesHaveTimestamps ? "yes!" : "no :(")) );
}
images.push_back( DepthImage() );
DepthImage& img = images[images.size()-1];
img.path = sequenceList.getPath(i);
if(framesHaveTimestamps){
vector<string> split = ofSplitString(sequenceList.getName(i), "_", true, true);
for(int l = 0; l < split.size(); l++){
if(split[l] == "millis"){
img.timestamp = ofToInt(split[l+1]);
if(i == 0){
firstFrameTimeOffset = img.timestamp;
}
img.timestamp -= firstFrameTimeOffset;
}
}
}
images.push_back( img );
}
//currentFrame = -1;
if(framesHaveTimestamps){
durationInMillis = images[images.size()-1].timestamp;
}
ofLogVerbose("sequence is loaded " + ofToString( images.size() ));
sequenceDirectory = newSequenceDirectory;
sequenceLoaded = true;
setFrame(0);
updatePixels();
// startThread();
return true;
}
