// デプスのヒストグラムを作成
depth_hist getDepthHistgram(const xn::DepthGenerator& depth,
const xn::DepthMetaData& depthMD)
{
// デプスの傾向を計算する(アルゴリズムはNiSimpleViewer.cppを利用)
const int MAX_DEPTH = depth.GetDeviceMaxDepth();
depth_hist depthHist(MAX_DEPTH);
unsigned int points = 0;
const XnDepthPixel* pDepth = depthMD.Data();
for (XnUInt y = 0; y < depthMD.YRes(); ++y) {
for (XnUInt x = 0; x < depthMD.XRes(); ++x, ++pDepth) {
if (*pDepth != 0) {
depthHist[*pDepth]++;
points++;
}
}
}
for (int i = 1; i < MAX_DEPTH; ++i) {
depthHist[i] += depthHist[i-1];
}
if ( points != 0) {
for (int i = 1; i < MAX_DEPTH; ++i) {
depthHist[i] =
(unsigned int)(256 * (1.0f - (depthHist[i] / points)));
}
}
return depthHist;
}
double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
{
double propValue = 0;
if( !depthGenerator.IsValid() )
return propValue;
XnMapOutputMode mode;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
CV_DbgAssert( depthGenerator.IsValid() );
propValue = 1.;
break;
case CV_CAP_PROP_FRAME_WIDTH :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nYRes;
break;
case CV_CAP_PROP_FPS :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nFPS;
break;
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
propValue = depthGenerator.GetDeviceMaxDepth();
break;
case CV_CAP_PROP_OPENNI_BASELINE :
propValue = baseline;
break;
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
propValue = (double)depthFocalLength_VGA;
break;
case CV_CAP_PROP_OPENNI_REGISTRATION :
propValue = depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) ? 1.0 : 0.0;
break;
case CV_CAP_PROP_POS_MSEC :
propValue = depthGenerator.GetTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES :
propValue = depthGenerator.GetFrameID();
break;
default :
{
std::stringstream ss;
ss << "Depth generator does not support such parameter (propIdx=" << propIdx << ") for getting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return propValue;
}
XnStatus XnFileDevice::UpdateS2DTables(const xn::DepthGenerator& depth)
{
XnStatus nRetVal = XN_STATUS_OK;
XnUInt64 nTemp;
XnDouble dTemp;
// get config
XnShiftToDepthConfig config;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nZeroPlaneDistance = (XnDepthPixel)nTemp;
nRetVal = depth.GetRealProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, dTemp);
XN_IS_STATUS_OK(nRetVal);
config.fZeroPlanePixelSize = (XnFloat)dTemp;
nRetVal = depth.GetRealProperty(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, dTemp);
XN_IS_STATUS_OK(nRetVal);
config.fEmitterDCmosDistance = (XnFloat)dTemp;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_MAX_SHIFT, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nDeviceMaxShiftValue = (XnUInt32)nTemp;
config.nDeviceMaxDepthValue = depth.GetDeviceMaxDepth();
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_CONST_SHIFT, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nConstShift = (XnUInt32)nTemp;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nPixelSizeFactor = (XnUInt32)nTemp;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_PARAM_COEFF, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nParamCoeff = (XnUInt32)nTemp;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_SHIFT_SCALE, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nShiftScale = (XnUInt32)nTemp;
config.nDepthMinCutOff = 0;
config.nDepthMaxCutOff = (XnDepthPixel)config.nDeviceMaxDepthValue;
if (!m_ShiftToDepth.bIsInitialized)
{
nRetVal = XnShiftToDepthInit(&m_ShiftToDepth, &config);
XN_IS_STATUS_OK(nRetVal);
}
else
{
nRetVal = XnShiftToDepthUpdate(&m_ShiftToDepth, &config);
XN_IS_STATUS_OK(nRetVal);
}
// notify
nRetVal = m_pNotifications->OnNodeGeneralPropChanged(m_pNotificationsCookie, depth.GetName(), XN_STREAM_PROPERTY_S2D_TABLE, m_ShiftToDepth.nShiftsCount * sizeof(XnDepthPixel), m_ShiftToDepth.pShiftToDepthTable);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_pNotifications->OnNodeGeneralPropChanged(m_pNotificationsCookie, depth.GetName(), XN_STREAM_PROPERTY_D2S_TABLE, m_ShiftToDepth.nDepthsCount * sizeof(XnUInt16), m_ShiftToDepth.pDepthToShiftTable);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}