int OpencvModule::DrawDepth(DepthMetaData& g_depthMD){
if (!cvGetWindowHandle("Caremedia Kinect Viewer")) // if(window has been closed)
{
if (windowopened) {windowopened=false; return 0; }
else windowopened = true;
}
int key=0;
//for opencv Mat, accessing buffer
Mat depth16(480,640,CV_16UC1,(unsigned short*)g_depthMD.WritableData());
depth16.convertTo(depth8,CV_8U,-255/4096.0,255);
Pseudocolor->pseudocolor(depth8,rgbdepth);
//CvFont font;
//cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0, 1, CV_AA);
float aux=((float)g_depthMD.Timestamp())/1E6;
QVariant time_double(aux);
QTime t = videostarttime.addSecs((int)aux).addMSecs((int)(aux - (int)aux ) * 1000);
float percent = (float)100*(float)g_depthMD.FrameID() / (float)NumFrames;
QString a;
putText(rgbdepth,"Time:"+t.toString().toStdString(), cvPoint(460,30),5,1,cvScalar(255, 255, 255, 0),1,1);
putText(rgbdepth, a.setNum(percent,'f',2).append("%").toStdString(), cvPoint(5,30),6,0.6,cvScalar(255, 255, 255, 0),1,1);
imshow("Caremedia Kinect Viewer",rgbdepth);
key = waitKey(5);
}
void inpaintDepth(DepthMetaData *niDepthMD, bool halfSize) {
IplImage *depthIm, *depthImFull;
if (halfSize) {
depthImFull = cvCreateImage(cvSize(niDepthMD->XRes(), niDepthMD->YRes()), IPL_DEPTH_16U, 1);
depthImFull->imageData = (char*)niDepthMD->WritableData();
depthIm = cvCreateImage(cvSize(depthImFull->width/4.0, depthImFull->height/4.0), IPL_DEPTH_16U, 1);
cvResize(depthImFull, depthIm, 0);
} else {
depthIm = cvCreateImage(cvSize(niDepthMD->XRes(), niDepthMD->YRes()), IPL_DEPTH_16U, 1);
depthIm->imageData = (char*)niDepthMD->WritableData();
}
IplImage *depthImMask = cvCreateImage(cvGetSize(depthIm), IPL_DEPTH_8U, 1);
for (int y=0; y<depthIm->height; y++) {
for (int x=0; x<depthIm->width; x++) {
CV_IMAGE_ELEM(depthImMask, char, y, x)=CV_IMAGE_ELEM(depthIm, unsigned short,y,x)==0?255:0;
}
}
IplImage *depthImMaskInv = cvCreateImage(cvGetSize(depthIm), IPL_DEPTH_8U, 1);
cvNot(depthImMask, depthImMaskInv);
double min, max; cvMinMaxLoc(depthIm, &min, &max, 0, 0, depthImMaskInv);
IplImage *depthIm8 = cvCreateImage(cvGetSize(depthIm), IPL_DEPTH_8U, 1);
float scale = 255.0/(max-min);
cvConvertScale(depthIm, depthIm8, scale, -(min*scale));
IplImage *depthPaint = cvCreateImage(cvGetSize(depthIm8), IPL_DEPTH_8U, 1);
cvInpaint(depthIm8, depthImMask, depthPaint, 3, CV_INPAINT_NS);
IplImage *depthIm16 = cvCreateImage(cvGetSize(depthIm), IPL_DEPTH_16U, 1);
cvConvertScale(depthPaint, depthIm16, 1/scale, min);
if (halfSize) {
IplImage *depthPaintedFull = cvCreateImage(cvGetSize(depthImFull), IPL_DEPTH_16U, 1);
cvResize(depthIm16, depthPaintedFull,0);
IplImage *depthImMaskFull = cvCreateImage(cvGetSize(depthImFull), IPL_DEPTH_8U, 1);
for (int y=0; y<depthImFull->height; y++) for (int x=0; x<depthImFull->width; x++)
CV_IMAGE_ELEM(depthImMaskFull, char, y, x)=CV_IMAGE_ELEM(depthImFull, unsigned short,y,x)==0?255:0;
cvCopy(depthPaintedFull, depthImFull, depthImMaskFull);
cvReleaseImage(&depthPaintedFull); cvReleaseImage(&depthImMaskFull);
cvReleaseImage(&depthImFull);
} else {
XnDepthPixel* KinectControl::getDepth()
{
XnStatus nRetVal = context.WaitAndUpdateAll();
CHECK_RC(nRetVal, "Update Data");
DepthMetaData depthMD;
depth_generator.GetMetaData(depthMD);
return depthMD.WritableData();
}
