cv::Mat KinectOpenNI::retrievePointCloudAsImage(const XnDepthPixel *depth)
{
cv::Mat out(480,640,CV_32FC3,cv::Scalar::all(0));
/* cv::Mat img(480,640,CV_32FC1,cv::Scalar::all(0));
cv::Mat imgx(480,640,CV_32FC1,cv::Scalar::all(0));
cv::Mat imgy(480,640,CV_32FC1,cv::Scalar::all(0));*/
XnPoint3D *cloud = retrievePointCloudMap(depth);
memcpy(out.data,cloud,sizeof(float)*480*640);
// out*=0.001f;
// out = out*0.001f;
/* for(int i=0;i<480*640;i++)
{
img.at<float>(i/640,i%640) = cloud[i].Z*0.001f;
imgx.at<float>(i/640,i%640) = cloud[i].X*0.001f;
imgy.at<float>(i/640,i%640) = cloud[i].Y*0.001f;
}*/
/*
std::vector<cv::Mat> planes;
planes.push_back(img);
planes.push_back(imgx);
planes.push_back(imgy);
cv::merge(planes,out);*/
return out;
}
IplImage* CvCapture_OpenNI::retrieveFrame( int outputType )
{
IplImage* image = 0;
CV_Assert( outputType < outputMapsTypesCount && outputType >= 0);
if( outputType == CV_CAP_OPENNI_DEPTH_MAP )
{
image = retrieveDepthMap();
}
else if( outputType == CV_CAP_OPENNI_POINT_CLOUD_MAP )
{
image = retrievePointCloudMap();
}
else if( outputType == CV_CAP_OPENNI_DISPARITY_MAP )
{
image = retrieveDisparityMap();
}
else if( outputType == CV_CAP_OPENNI_DISPARITY_MAP_32F )
{
image = retrieveDisparityMap_32F();
}
else if( outputType == CV_CAP_OPENNI_VALID_DEPTH_MASK )
{
image = retrieveValidDepthMask();
}
else if( outputType == CV_CAP_OPENNI_BGR_IMAGE )
{
image = retrieveBGRImage();
}
else if( outputType == CV_CAP_OPENNI_GRAY_IMAGE )
{
image = retrieveGrayImage();
}
return image;
}
