//-------------------------------------------------------------------------------------
void ofCvColorImage::setFromPixels(unsigned char * _pixels, int w, int h){
cvSetImageData(cvImage, _pixels, w*3);
int stride = w*3;
for (int i = 0; i < h; i++){
memcpy(pixels + (i * stride), cvImage->imageData + (i * cvImage->widthStep), stride);
}
}
unsigned char* OpenCVImage::setData(unsigned char* data, bool ownership)
{
m_own = ownership;
unsigned char* tmp = getData();
int channels = getNumChannels();
cvSetImageData(m_img, data, cvGetSize(m_img).width * channels);
return tmp;
}
void MyKinectListener::ColorReceived(Kinect::Kinect *K)
{
lock();
K->ParseColorBuffer();
cvSetImageData( _colorImg, K->mColorBuffer, 640*3 );
//memcpy( _colorImg->imageData, K->mColorBuffer, 640*480*3 );
//cvCvtColor( _colorImg, _colorImg, CV_RGB2BGR );
_colorImgFrame++;
unlock();
}
//
// Transform
// Transform the sample 'in place'
//
HRESULT CKalmTrack::Transform(IMediaSample *pSample)
{
BYTE* pData;
CvImage image;
pSample->GetPointer(&pData);
AM_MEDIA_TYPE* pType = &m_pInput->CurrentMediaType();
VIDEOINFOHEADER *pvi = (VIDEOINFOHEADER *) pType->pbFormat;
// Get the image properties from the BITMAPINFOHEADER
CvSize size = cvSize( pvi->bmiHeader.biWidth, pvi->bmiHeader.biHeight );
int stride = (size.width * 3 + 3) & -4;
cvInitImageHeader( &image, size, IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4, 1 );
cvSetImageData( &image, pData,stride );
if(IsTracking == false)
{
if(IsInit == false)
{
CvPoint p1, p2;
// Draw box
p1.x = cvRound( size.width * m_params.x );
p1.y = cvRound( size.height * m_params.y );
p2.x = cvRound( size.width * (m_params.x + m_params.width));
p2.y = cvRound( size.height * (m_params.y + m_params.height));
CheckBackProject( &image );
cvRectangle( &image, p1, p2, -1, 1 );
}
else
{
m_object.x = cvRound( size.width * m_params.x );
m_object.y = cvRound( size.height * m_params.y );
m_object.width = cvRound( size.width * m_params.width );
m_object.height = cvRound( size.height * m_params.height );
ApplyCamShift( &image, true );
CheckBackProject( &image );
IsTracking = true;
}
}
else
{
cvKalmanUpdateByTime(Kalman);
m_object.x = cvRound( Kalman->PriorState[0]-m_object.width*0.5);
m_object.y = cvRound( Kalman->PriorState[2]-m_object.height*0.5 );
ApplyCamShift( &image, false );
CheckBackProject( &image );
cvRectangle( &image,
cvPoint( m_object.x, m_object.y ),
cvPoint( m_object.x + m_object.width, m_object.y + m_object.height ),
-1, 1 );
Rectang(&image,m_Indicat1,-1);
m_X.x = 10;
m_X.y = 10;
m_X.width=50*m_Old.x/size.width;
m_X.height =10;
Rectang(&image,m_X,CV_RGB(0,0,255));
m_Y.x = 10;
m_Y.y = 10;
m_Y.width=10;
m_Y.height = 50*m_Old.y/size.height;
Rectang(&image,m_Y,CV_RGB(255,0,0));
m_Indicat2.x = 0;
m_Indicat2.y = size.height-50;
m_Indicat2.width = 50;
m_Indicat2.height = 50;
Rectang(&image,m_Indicat2,-1);
float Norm = cvSqrt(Measurement[1]*Measurement[1]+Measurement[3]*Measurement[3]);
int VXNorm = (fabs(Measurement[1])>5)?(int)(12*Measurement[1]/Norm):0;
int VYNorm = (fabs(Measurement[3])>5)?(int)(12*Measurement[3]/Norm):0;
CvPoint pp1 = {25,size.height-25};
CvPoint pp2 = {25+VXNorm,size.height-25+VYNorm};
cvLine(&image,pp1,pp2,CV_RGB(0,0,0),3);
/*CvPoint pp1 = {25,size.height-25};
double angle = atan2( Measurement[3], Measurement[1] );
CvPoint pp2 = {cvRound(25+12*cos(angle)),cvRound(size.height-25-12*sin(angle))};
cvLine(&image,pp1,pp2,0,3);*/
}
cvSetImageData( &image, 0, 0 );
return NOERROR;
} // Transform
