RGBImage GestureContext::drawSkeleton()
{
cv::Mat_<cv::Vec3b> newMat(480,640, cv::Vec3b(0,0,0));
Face *f = face();
cv::Scalar face_color(255,0,0);
if (f) {
cv::circle(newMat, f->center(), 9, face_color, 3);
}
return(RGBImage(newMat));
}
bool
DeprecatedSharedRGBImage::ToSurfaceDescriptor(SurfaceDescriptor& aResult)
{
if (!mAllocated) {
return false;
}
this->AddRef();
aResult = RGBImage(*mShmem,
nsIntRect(0, 0, mSize.width, mSize.height),
mImageFormat,
reinterpret_cast<uint64_t>(this));
return true;
}
bool
DeprecatedSharedRGBImage::DropToSurfaceDescriptor(SurfaceDescriptor& aResult)
{
if (!mAllocated) {
return false;
}
aResult = RGBImage(*mShmem,
nsIntRect(0, 0, mSize.width, mSize.height),
mImageFormat,
0);
*mShmem = ipc::Shmem();
mAllocated = false;
return true;
}
cv::Mat extractRGBfromCloud(const PCloud& cloud){
cv::Mat RGBImage(cloud->height,cloud->width,CV_8UC3);
for(unsigned int v=0;v<cloud->height;v++) { //480
for(unsigned int u=0;u<cloud->width;u++) { //640
RGBImage.at<cv::Vec3b>(v,u)[0] = (int) (*cloud)(u,v).b;
RGBImage.at<cv::Vec3b>(v,u)[1] = (int) (*cloud)(u,v).g;
RGBImage.at<cv::Vec3b>(v,u)[2] = (int) (*cloud)(u,v).r;
}
}
return RGBImage;
}
void MultiProjector::unproject(Cloud& cloud, const RawDepthImage& depth_image, const RGBImage& rgb_image){
Cloud temp;
cloud.clear();
for (size_t i = 0; i<_projectors.size(); i++) {
if (!_projectors[i]) {
continue;
}
unsigned short * zb= const_cast<unsigned short*>(depth_image.ptr<const unsigned short>(_mono_rows*i));
RGBImage mono_rgb;
RawDepthImage mono_zbuffer(_mono_rows, _image_cols,zb);
if (rgb_image.rows && rgb_image.cols) {
cv::Vec3b * rgbb= const_cast<cv::Vec3b*>(rgb_image.ptr<const cv::Vec3b>(_mono_rows*i));
mono_rgb = RGBImage(_mono_rows, _image_cols, rgbb);
}
_projectors[i]->unproject(temp, mono_zbuffer, mono_rgb);
cloud.add(temp);
}
cloud.transformInPlace(_camera_info->offset());
}
QPixmap colorengine::getQPixmap(const cv::Rect& crop)
{
return RGBImage(*master_xyz.get(), crop).getQPixmap();
}
