//增加数据
bool MyTree::Add(int data)
{
//判断当前是否是空树
if(m_pRoot == NULL)
{
m_pRoot = new TreeNode(data);
if(m_pRoot == NULL)
{
return false;
}
}
else
{
TreeNode* pInsert = new TreeNode(data);
TreeNode* pCur = m_pRoot;
TreeNode* pParent = NULL;
bool bLeft = false;
while(pCur != NULL)
{
pParent = pCur;
if(data < pCur->m_Data)
{
pCur = pCur->m_pLeft;
bLeft = true;
}
else if(data > pCur->m_Data)
{
pCur = pCur->m_pRight;
bLeft = false;
}
}
if(bLeft)
{
pParent->m_pLeft = pInsert;
}
else
{
pParent->m_pRight = pInsert;
}
pInsert->m_pParent = pParent;
//更新深度
UpdateDepth(pInsert);
}
m_nCount++;
return true;
}
//删除
bool MyTree::Del(int data)
{
TreeNode* pDelNode = Find(data);
if(pDelNode == NULL)
{
return false;
}
while(true)
{
//3种情况
//待删除结点是叶子结点
if(pDelNode->m_pLeft == NULL && pDelNode->m_pRight == NULL)
{
TreeNode* pParent = pDelNode->m_pParent;
if(pParent)
{
if(pParent->m_pLeft == pDelNode)
{
pParent->m_pLeft = NULL;
}
else
{
pParent->m_pRight = NULL;
}
}
else
{
m_pRoot = NULL;
}
UpdateDepth(pDelNode);
break;
}
//待删除结点有两个子结点
else if(pDelNode->m_pLeft != NULL && pDelNode->m_pRight != NULL)
{
//寻找待删除结点的左子树的最大值
TreeNode* pLeftMax = pDelNode->m_pLeft;
while(pLeftMax)
{
if(pLeftMax->m_pRight == NULL)
{
break;
}
pLeftMax = pLeftMax->m_pRight;
}
//交换数据
int nTmp = pDelNode->m_Data;
pDelNode->m_Data = pLeftMax->m_Data;
pLeftMax->m_Data = nTmp;
pDelNode = pLeftMax;
continue;
}
//待删除结点有一个子结点
else
{
TreeNode* pParent = pDelNode->m_pParent;
TreeNode* pChild = NULL;
if(pDelNode->m_pLeft)
{
pChild = pDelNode->m_pLeft;
}
else
{
pChild = pDelNode->m_pRight;
}
pChild->m_pParent = pParent;
if(pParent)
{
if(pParent->m_pLeft == pDelNode)
{
pParent->m_pLeft = pChild;
}
else
{
pParent->m_pRight = pChild;
}
}
//待删除结点是根结点
else
{
m_pRoot = pChild;
}
UpdateDepth(pDelNode);
break;
}
}
delete pDelNode;
m_nCount--;
return true;
}
void Kinect2Manager::Update(unsigned int options) {
#ifdef _USE_KINECT
IColorFrame * pColorFrame = NULL;
IDepthFrame * pDepthFrame = NULL;
IBodyFrame * pBodyFrame = NULL;
IBodyIndexFrame * pBodyIndexFrame = NULL;
IMultiSourceFrame * pMultiSourceFrame = NULL;
m_nColorWidth = 0;
m_nColorHeight = 0;
m_nDepthWidth = 0;
m_nDepthHeight = 0;
m_bCalculateDepthRGBX = options & Update::DepthRGBX;
int numUpdate = countUpdate(options);
HRESULT hr = 1;
if (numUpdate > 1) {
hr = m_pMultiSourceFrameReader->AcquireLatestFrame(&pMultiSourceFrame);
}
if (SUCCEEDED(hr)) {
if (options & Update::Color) {
IColorFrameReference* pColorFrameReference = NULL;
if (numUpdate > 1) {
hr = pMultiSourceFrame->get_ColorFrameReference(&pColorFrameReference);
if (SUCCEEDED(hr))
{
hr = pColorFrameReference->AcquireFrame(&pColorFrame);
}
}
else {
hr = m_pColorFrameReader->AcquireLatestFrame(&pColorFrame);
}
if (SUCCEEDED(hr)) {
m_bMapColorToDepth = options & Update::MapColorToDepth;
}
else {
options &= ~Update::Color;
}
SafeRelease(pColorFrameReference);
}
if (options & Update::Depth) {
IDepthFrameReference* pDepthFrameReference = NULL;
if (numUpdate > 1) {
hr = pMultiSourceFrame->get_DepthFrameReference(&pDepthFrameReference);
if (SUCCEEDED(hr))
{
hr = pDepthFrameReference->AcquireFrame(&pDepthFrame);
}
}
else {
hr = m_pDepthFrameReader->AcquireLatestFrame(&pDepthFrame);
}
if (SUCCEEDED(hr)) {
m_bMapDepthToColor = options & Update::MapDepthToColor;
}
else {
options &= ~Update::Depth;
}
SafeRelease(pDepthFrameReference);
}
if (options & Update::Body) {
IBodyFrameReference* pBodyFrameReference = NULL;
if (numUpdate > 1) {
hr = pMultiSourceFrame->get_BodyFrameReference(&pBodyFrameReference);
if (SUCCEEDED(hr))
{
hr = pBodyFrameReference->AcquireFrame(&pBodyFrame);
}
}
else {
hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);
}
SafeRelease(pBodyFrameReference);
}
if (options & Update::Color && options & Update::Depth) {
if (options & Update::BodyIndex && options & Update::MapColorToDepth) {
if (m_bDepthColorMapCalculated) {
IBodyIndexFrameReference* pBodyIndexFrameReference = NULL;
hr = pMultiSourceFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
}
SafeRelease(pBodyIndexFrameReference);
}
}
}
}
if (pBodyFrame) {
UpdateBody(pBodyFrame);
}
if (pColorFrame) {
UpdateColor(pColorFrame);
}
if (pDepthFrame) {
UpdateDepth(pDepthFrame);
if (options & Update::MapDepthToColor) {
CalculateColorDepthMap();
if (m_bColorDepthMapCalculated)
ProcessDepthToColor(m_pDepth, m_nDepthWidth, m_nDepthHeight, m_pColorDepthMap, m_nColorWidth, m_nColorHeight);
}
if (options & Update::MapColorToDepth) {
CalculateDepthColorMap();
if (m_bDepthColorMapCalculated) {
ProcessColorToDepth(m_pColorRGBX, m_nColorWidth, m_nColorHeight, m_pDepthColorMap, m_nDepthWidth, m_nDepthHeight);
if (pBodyIndexFrame) {
UpdateBodyIndex(pBodyIndexFrame);
}
}
}
}
SafeRelease(pColorFrame);
SafeRelease(pDepthFrame);
SafeRelease(pBodyFrame);
SafeRelease(pBodyIndexFrame);
SafeRelease(pMultiSourceFrame);
#else
m_nDepthWidth = CAPTURE_SIZE_X_DEPTH;
m_nDepthHeight = CAPTURE_SIZE_Y_DEPTH;
m_nColorWidth = CAPTURE_SIZE_X_COLOR;
m_nColorHeight = CAPTURE_SIZE_Y_COLOR;
if (options & Update::MapDepthToColor) {
CalculateColorDepthMap();
if (m_bColorDepthMapCalculated)
ProcessDepthToColor(m_pDepth, m_nDepthWidth, m_nDepthHeight, m_pColorDepthMap, m_nColorWidth, m_nColorHeight);
}
if (options & Update::MapColorToDepth) {
CalculateDepthColorMap();
if (m_bDepthColorMapCalculated) {
ProcessColorToDepth(m_pColorRGBX, m_nColorWidth, m_nColorHeight, m_pDepthColorMap, m_nDepthWidth, m_nDepthHeight);
}
}
UpdateBodyIndex(NULL);
#endif
}
