KisColor::KisColor(const KisColor& color, KisColor::Type type)
{
if(color.getType() == type)
initHSX(type, color.getH(), color.getS(), color.getX(), color.getA());
else
initRGB(type, color.getR(), color.getG(), color.getB(), color.getA());
}
KisColor::KisColor(float hue, float a, Type type)
{
float r = 0;
float g = 0;
float b = 0;
::getRGB(r, g, b, hue);
initRGB(type, r, g, b, a);
}
void KinectInterfacePrimesense::initOpenNI(const char* device_uri) {
initOpenNIStatic();
if (device_uri) {
cout << "Initializing device " << device_uri << "..." << endl;
} else {
cout << "Initializing first avaliable openNI device..." << endl;
}
// Open a connection to the OpenNI device
const char* deviceURI = openni::ANY_DEVICE;
if (device_uri != NULL) {
deviceURI = device_uri;
}
device_ = new openni::Device();
checkOpenNIRC(device_->open(deviceURI), "Failed to connect to device");
const openni::DeviceInfo& info = device_->getDeviceInfo();
device_uri_ = info.getUri();
// Note: XYZ (real world values are ALL wrong when image registration is
// turned on). It looks OK for a single Kinect, but the space is warped.
// This is an OpenNI bug:
setCropDepthToRGB(false);
setDepthColorSync(false);
// Open a connection to the device's depth channel
initDepth();
const int depth_size = depth_dim_[0] * depth_dim_[1];
labels_ = new uint8_t[depth_size];
pts_world_ = new float[3 * depth_size];
pts_uvd_ = new float[3 * depth_size];
registered_rgb_ = new uint8_t[3 * depth_size];
// Open a connection to the device's rgb channel
bool sync_ir_stream_ = false;
initRGB(!sync_ir_stream_);
initIR(sync_ir_stream_);
bool flip_image_ = true;
setFlipImage(flip_image_);
std::this_thread::sleep_for(std::chrono::milliseconds(1));
// Update the OpenNIFuncs constants
float depth_hfov = streams_[DEPTH_STREAM]->getHorizontalFieldOfView();
float depth_vfov = streams_[DEPTH_STREAM]->getVerticalFieldOfView();
openni_funcs_ = new OpenNIFuncs(depth_dim_[0], depth_dim_[1],
depth_hfov, depth_vfov, openni_devices_open_);
// Check OpenNI's math:
//uint64_t zpd;
//streams_[DEPTH_STREAM]->getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &zpd);
//double zpps;
//streams_[DEPTH_STREAM]->getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &zpps);
//double focal_length_cmos = (double)zpd / zpps;
//// http://en.wikipedia.org/wiki/Angle_of_view FOV calculation
//double FOVh = 2.0 * atan( ( 1280.0 * 0.5 ) / focal_length_cmos );
//double FOVv = 2.0 * atan( ( 960.0 * 0.5 ) / focal_length_cmos );
//std::streamsize old_precision = std::cout.precision();
//std::cout.precision(15);
//std::cout << "FOVh = " << FOVh << std::endl;
//std::cout << "FOVv = " << FOVv << std::endl;
//std::cout << "depth_hfov = " << depth_hfov << std::endl;
//std::cout << "depth_vfov = " << depth_vfov << std::endl;
//std::cout.precision(old_precision);
std::cout << "Finished initializaing OpenNI device" << std::endl;
}
KisColor::KisColor(const QColor& color, Type type)
{
initRGB(type, color.redF(), color.greenF(), color.blueF(), color.alphaF());
}
KisColor::KisColor(float r, float g, float b, float a, Type type)
{
initRGB(type, r, g, b, a);
}
KisColor::KisColor(Type type)
{
initRGB(type, 0.0f, 0.0f, 0.0f, 0.0f);
}
KisColor::KisColor(Qt::GlobalColor color, Type type)
{
QColor c(color);
initRGB(type, c.redF(), c.greenF(), c.blueF(), c.alphaF());
}
