InteractivePointCloud::InteractivePointCloud()
{
m_boundingBox = new BoundingBox<Vertex<float> >(
Vertex<float>(-8, -8, -8),
Vertex<float>(8, 8, 8)
);
updateBuffer(PointBufferPtr());
}
PointBufferPtr KinectIO::getBuffer()
{
// Get depth image from sensor
std::vector<short> depthImage(480 * 680, 0);
m_grabber->getDepthImage(depthImage);
std::vector<uint8_t> colorImage(480 * 680 * 3, 0);
m_grabber->getColorImage(colorImage);
std::set<int> nans;
for(size_t i = 0; i < depthImage.size(); i++)
{
if(isnan(depthImage[i])) nans.insert(i);
}
// Return null pointer if no image was grabbed
if(depthImage.size() == 0) return PointBufferPtr();
size_t numPoints = depthImage.size() - nans.size();
// Convert depth image into point cloud
PointBufferPtr buffer(new PointBuffer);
floatArr points(new float[numPoints * 3]);
ucharArr colors(new uchar[numPoints * 3]);
int i,j;
int index = 0;
int c = 0;
for (i = 0; i < 480; i++) {
for (j = 0; j < 640; j++) {
if(nans.find(c) == nans.end())
{
Eigen::Vector4f v;
v << j, i, (float)(depthImage[i * 640 + j]), 1.0f;
v = m_depthMatrix.transpose() * v;
points[3 * index ] = v(0) / v(3);
points[3 * index + 1] = v(1) / v(3);
points[3 * index + 2] = v(2) / v(3);
colors[3 * index ] = colorImage[3 * c ];
colors[3 * index + 1] = colorImage[3 * c + 1];
colors[3 * index + 2] = colorImage[3 * c + 2];
index++;
}
c++;
}
}
buffer->setPointArray(points, numPoints);
buffer->setPointColorArray(colors, numPoints);
return buffer;
}
/// Return a new point buffer with the same point context as this
/// point buffer.
PointBufferPtr makeNew() const
{ return PointBufferPtr(new PointBuffer(m_context)); }
Model( PointBufferPtr p = PointBufferPtr(), MeshBufferPtr m = MeshBufferPtr() )
{
m_pointCloud = p;
m_mesh = m;
};
