void copyFrameToImage(VideoFrameRef frame, DepthImage& image)
{
if (image.height() != frame.getHeight() || image.width() != frame.getWidth())
{
image = DepthImage(
DepthImage::Data(
static_cast<const uint16_t*>(frame.getData()),
static_cast<const uint16_t*>(frame.getData()) + frame.getWidth() * frame.getHeight()),
frame.getWidth(),
frame.getHeight());
}
else
{
image.data(DepthImage::Data(
static_cast<const uint16_t*>(frame.getData()),
static_cast<const uint16_t*>(frame.getData()) + frame.getWidth() * frame.getHeight()));
}
}
TEST( Camera, givenDepthMapThenGenerateNormalMap ) {
using namespace Eigen;
Camera *cam = Camera::default_depth_camera();;
TUMDataLoader tum{ "/mnt/hgfs/PhD/Kinect Raw Data/TUM/rgbd_dataset_freiburg1_xyz"};
// Load depth image
Matrix4f pose;
DepthImage * di = tum.next( pose );
Matrix<float, 3, Dynamic> vertices;
Matrix<float, 3, Dynamic> normals;
cam->depth_image_to_vertices_and_normals(di->data(), di->width(), di->height(), vertices, normals);
save_normals_as_colour_png("/home/dave/Desktop/cam_test_normals_tum.png", di->width(), di->height(), normals);
save_rendered_scene_as_png("/home/dave/Desktop/cam_test_render_tum.png", di->width(), di->height(), vertices, normals, *cam, Vector3f{10000, 10000, 1000});
delete di;
delete cam;
}