void glutDisplay (void)
{
XnStatus rc = XN_STATUS_OK;
// Read a new frame
rc = g_context.WaitAnyUpdateAll();
if (rc != XN_STATUS_OK)
{
printf("Read failed: %s\n", xnGetStatusString(rc));
return;
}
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
const XnDepthPixel* pDepth = g_depthMD.Data();
const XnUInt8* pImage = g_imageMD.Data();
unsigned int nImageScale = GL_WIN_SIZE_X / g_depthMD.FullXRes();
// Copied from SimpleViewer
// Clear the OpenGL buffers
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);
// Calculate the accumulative histogram (the yellow display...)
xnOSMemSet(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
unsigned int nNumberOfPoints = 0;
for (XnUInt y = 0; y < g_depthMD.YRes(); ++y)
{
for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth)
{
if (*pDepth != 0)
{
g_pDepthHist[*pDepth]++;
nNumberOfPoints++;
}
}
}
for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
}
}
xnOSMemSet(g_pTexMap, 0, g_nTexMapX*g_nTexMapY*sizeof(XnRGB24Pixel));
// check if we need to draw image frame to texture
if (g_nViewState == DISPLAY_MODE_OVERLAY ||
g_nViewState == DISPLAY_MODE_IMAGE)
{
const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data();
XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX;
for (XnUInt y = 0; y < g_imageMD.YRes(); ++y)
{
const XnRGB24Pixel* pImage = pImageRow;
XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset();
for (XnUInt x = 0; x < g_imageMD.XRes(); ++x, ++pImage, ++pTex)
{
*pTex = *pImage;
}
pImageRow += g_imageMD.XRes();
pTexRow += g_nTexMapX;
}
}
// check if we need to draw depth frame to texture
if (g_nViewState == DISPLAY_MODE_OVERLAY ||
g_nViewState == DISPLAY_MODE_DEPTH)
{
const XnDepthPixel* pDepthRow = g_depthMD.Data();
XnRGB24Pixel* pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX;
for (XnUInt y = 0; y < g_depthMD.YRes(); ++y)
{
const XnDepthPixel* pDepth = pDepthRow;
XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset();
for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth, ++pTex)
{
if (*pDepth != 0)
{
int nHistValue = g_pDepthHist[*pDepth];
pTex->nRed = nHistValue;
pTex->nGreen = nHistValue;
pTex->nBlue = 0;
}
}
pDepthRow += g_depthMD.XRes();
pTexRow += g_nTexMapX;
}
}
// Create the OpenGL texture map
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_nTexMapX, g_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, g_pTexMap);
// Display the OpenGL texture map
glColor4f(1,1,1,1);
glBegin(GL_QUADS);
int nXRes = g_depthMD.FullXRes();
int nYRes = g_depthMD.FullYRes();
// upper left
glTexCoord2f(0, 0);
glVertex2f(0, 0);
// upper right
glTexCoord2f((float)nXRes/(float)g_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0);
// bottom right
glTexCoord2f((float)nXRes/(float)g_nTexMapX, (float)nYRes/(float)g_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
// bottom left
glTexCoord2f(0, (float)nYRes/(float)g_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y);
glEnd();
// Swap the OpenGL display buffers
glutSwapBuffers();
}
//----------------------------------------------------
// テクスチャの設定
//----------------------------------------------------
void setTexture(void){
xnOSMemSet(g_pTexMap, 0, g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel)); // g_pTexMapの全てに0を代入
// 描画モード1か3
if (g_nViewState == DISPLAY_MODE_OVERLAY || g_nViewState == DISPLAY_MODE_IMAGE){
const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data(); // g_imageMDのポインタ取得(画像データ取得)
XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX;
for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){
const XnRGB24Pixel* pImage = pImageRow;
XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset();
for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pImage, ++ pTex){
*pTex = *pImage;
}
pImageRow += g_imageMD.XRes();
pTexRow += g_nTexMapX;
}
}
// 描画モード1か2
if (g_nViewState == DISPLAY_MODE_OVERLAY || g_nViewState == DISPLAY_MODE_DEPTH){
const XnDepthPixel* pDepthRow = g_depthMD.Data();
XnRGB24Pixel* pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX;
const XnLabel* pLabel = g_sceneMD.Data();
for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){
const XnDepthPixel* pDepth = pDepthRow;
XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset();
for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pDepth, ++ pTex, ++ pLabel){
int nHistValue = g_pDepthHist[*pDepth];
if(*pLabel){ // 人物なら
*pTex = userColor[*pLabel];
}else if (*pDepth != 0){
if(*pDepth < 1000){
*pTex = xnRGB24Pixel(nHistValue, 0, 0); // red
}else if(*pDepth < 2000){
*pTex = xnRGB24Pixel(0, nHistValue, 0); // green
}else if(*pDepth < 3000){
*pTex = xnRGB24Pixel(0, 0, nHistValue); // blue
}else if(*pDepth < 4000){
*pTex = xnRGB24Pixel(nHistValue, nHistValue, 0); // 水色
}else if(*pDepth < 5000){
*pTex = xnRGB24Pixel(0, nHistValue, nHistValue); // yellow
}else{
*pTex = xnRGB24Pixel(nHistValue, 0, nHistValue); // 紫
}
}
}
pDepthRow += g_depthMD.XRes();
pTexRow += g_nTexMapX;
}
}
// 描画モード4
//if (g_nViewState == DISPLAY_MODE_CHROMA){
// // イメージデータ(カメラ映像)貼り付け
// const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data(); // g_imageMDのポインタ取得(画像データ取得)
// XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX;
// for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){ // 480
// const XnRGB24Pixel* pImage = pImageRow;
// XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset();
// for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pImage, ++ pTex){ // 640
// *pTex = *pImage;
// }
// pImageRow += g_imageMD.XRes();
// pTexRow += g_nTexMapX;
// }
// // デプスデータを用いた人物抜き出し + 背景合成
// const XnDepthPixel* pDepthRow = g_depthMD.Data(); // デプスデータのポインタ取得
// pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX;
// GLuint g_backWidth = g_back.GetWidth(); // 背景の横幅の大きさ
// GLubyte* pBackData = g_back.GetData() + g_back.GetImageSize() - 3 * g_backWidth; // 背景のポインタ取得(最後から見ていく)
// for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){ // 480
// const XnDepthPixel* pDepth = pDepthRow; // デプスデータのポインタ取得
// XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset();
// for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pDepth, ++ pTex){ // 640
// // 深さが0か閾値以上なら背景画像を描画（閾値以下ならその部分を残す）
// if (*pDepth == 0 || *pDepth >= g_chromaThresh){
// pTex->nRed = *pBackData;
// pTex->nGreen = *(pBackData + 1);
// pTex->nBlue = *(pBackData + 2);
// }
// pBackData += 3;
// }
// pDepthRow += g_depthMD.XRes();
// pTexRow += g_nTexMapX;
// pBackData -= 2 * 3 * g_backWidth;
// }
//}
}
