void drawInit() { g_DepthColoring[DEPTH_OFF] = "Off"; g_DepthColoring[LINEAR_HISTOGRAM] = "Linear Histogram"; g_DepthColoring[PSYCHEDELIC] = "Psychedelic"; g_DepthColoring[PSYCHEDELIC_SHADES] = "Psychedelic (Millimeters)"; g_DepthColoring[RAINBOW] = "Rainbow"; g_DepthColoring[CYCLIC_RAINBOW] = "Cyclic Rainbow"; g_DepthColoring[CYCLIC_RAINBOW_HISTOGRAM] = "Cyclic Rainbow Histogram"; g_DepthColoring[STANDARD_DEVIATION] = "Standard Deviation"; g_ImageColoring[IMAGE_OFF] = "Off"; g_ImageColoring[IMAGE_NORMAL] = "Normal"; g_ImageColoring[DEPTH_MASKED_IMAGE] = "Depth Masked Image"; CreateRainbowPallet(); setPreset(7); TextureMapInit(&g_texBackground, 1024, 1024, 3, 1024, 1024); // load background image xnOSLoadFile("..\\..\\..\\..\\Data\\RGBViewer\\back.raw", TextureMapGetLine(&g_texBackground, 0), 1024*1024*3); TextureMapUpdate(&g_texBackground); mouseInputRegisterForSelectionRectangle(drawSelectionChanged); mouseInputRegisterForCursorMovement(drawCursorMoved); }
void drawColor(IntRect* pLocation, IntPair* pPointer, int pointerRed, int pointerGreen, int pointerBlue) { if (g_DrawConfig.Streams.Color.Coloring == COLOR_OFF) return; if (!isColorOn() && !isIROn()) { drawClosedStream(pLocation, "Color"); return; } openni::VideoFrameRef colorMD; int depthWidth = 0, depthHeight = 0, depthFullWidth = 0, depthFullHeight = 0; int depthOriginX = 0, depthOriginY = 0; if (isColorOn()) { colorMD = getColorFrame(); if (!colorMD.isValid()) return; } else if (isIROn()) { colorMD = getIRFrame(); } else return; if (!colorMD.isValid()) return; if (colorMD.getFrameIndex() == 0) { return; } openni::VideoFrameRef depthMetaData = getDepthFrame(); int width = colorMD.getWidth(); int height = colorMD.getHeight(); int fullWidth = colorMD.getVideoMode().getResolutionX(); int fullHeight = colorMD.getVideoMode().getResolutionY(); int originX = colorMD.getCropOriginX(); int originY = colorMD.getCropOriginY(); XnUInt8* pColor = (XnUInt8*)colorMD.getData(); bool useDepth = false; openni::PixelFormat format = colorMD.getVideoMode().getPixelFormat(); openni::DepthPixel* pDepth = NULL; if (depthMetaData.isValid()) { useDepth = true; depthWidth = depthMetaData.getWidth(); depthHeight = depthMetaData.getHeight(); depthFullWidth = depthMetaData.getVideoMode().getResolutionX(); depthFullHeight = depthMetaData.getVideoMode().getResolutionY(); depthOriginX = depthMetaData.getCropOriginX(); depthOriginY = depthMetaData.getCropOriginY(); pDepth = (openni::DepthPixel*)depthMetaData.getData(); } for (XnUInt16 nY = 0; nY < height; nY++) { XnUInt8* pTexture = TextureMapGetLine(&g_texColor, nY + originY) + originX*4; if (format == openni::PIXEL_FORMAT_YUV422) { YUV422ToRGB888(pColor, pTexture, width*2, g_texColor.Size.X*g_texColor.nBytesPerPixel); pColor += width*2; } else if (format == openni::PIXEL_FORMAT_YUYV) { YUYVToRGB888(pColor, pTexture, width*2, g_texColor.Size.X*g_texColor.nBytesPerPixel); pColor += width*2; } else { XnDouble dRealY = (nY + originY) / (XnDouble)fullHeight; XnInt32 nDepthY = dRealY * depthFullHeight - depthOriginY; for (XnUInt16 nX = 0; nX < width; nX++, pTexture+=4) { XnInt32 nDepthIndex = 0; if (useDepth) { XnDouble dRealX = (nX + originX) / (XnDouble)fullWidth; XnInt32 nDepthX = dRealX * depthFullWidth - depthOriginX; if (nDepthX >= depthWidth || nDepthY >= depthHeight || nDepthX < 0 || nDepthY < 0) { nDepthIndex = -1; } else { nDepthIndex = nDepthY*depthWidth + nDepthX; } } switch (format) { case openni::PIXEL_FORMAT_RGB888: pTexture[0] = pColor[0]; pTexture[1] = pColor[1]; pTexture[2] = pColor[2]; pColor+=3; break; case openni::PIXEL_FORMAT_GRAY8: pTexture[0] = pTexture[1] = pTexture[2] = *pColor; pColor+=1; break; case openni::PIXEL_FORMAT_GRAY16: pTexture[0] = pTexture[1] = pTexture[2] = *((XnUInt16*)pColor) >> 2; pColor+=2; break; default: assert(0); return; } // decide if pixel should be lit or not if (g_DrawConfig.Streams.Color.Coloring == DEPTH_MASKED_COLOR && (!depthMetaData.isValid() || nDepthIndex == -1 || pDepth[nDepthIndex] == 0)) { pTexture[3] = 0; } else { pTexture[3] = 255; } } } } if (pPointer != NULL) { TextureMapDrawCursor(&g_texColor, *pPointer, pointerRed, pointerGreen, pointerBlue); } TextureMapUpdate(&g_texColor); TextureMapDraw(&g_texColor, pLocation); }
void drawDepth(IntRect* pLocation, IntPair* pPointer) { if (g_DrawConfig.Streams.Depth.Coloring != DEPTH_OFF) { if (!isDepthOn()) { drawClosedStream(pLocation, "Depth"); return; } openni::VideoFrameRef* pDepthMD = &getDepthFrame(); if (!pDepthMD->isValid()) return; const openni::DepthPixel* pDepth = (openni::DepthPixel*)pDepthMD->getData(); XN_ASSERT(pDepth); int width = pDepthMD->getWidth(); int height = pDepthMD->getHeight(); int originX = pDepthMD->getCropOriginX(); int originY = pDepthMD->getCropOriginY(); if (pDepthMD->getFrameIndex() == 0) { return; } // copy depth into texture-map for (XnUInt16 nY = originY; nY < height + originY; nY++) { XnUInt8* pTexture = TextureMapGetLine(&g_texDepth, nY) + originX*4; for (XnUInt16 nX = 0; nX < width; nX++, pDepth++, pTexture+=4) { XnUInt8 nRed = 0; XnUInt8 nGreen = 0; XnUInt8 nBlue = 0; XnUInt8 nAlpha = g_DrawConfig.Streams.Depth.fTransparency*255; XnUInt16 nColIndex; switch (g_DrawConfig.Streams.Depth.Coloring) { case LINEAR_HISTOGRAM: nRed = nGreen = g_pDepthHist[*pDepth]*255; break; case PSYCHEDELIC_SHADES: nAlpha *= (((XnFloat)(*pDepth % 10) / 20) + 0.5); case PSYCHEDELIC: switch ((*pDepth/10) % 10) { case 0: nRed = 255; break; case 1: nGreen = 255; break; case 2: nBlue = 255; break; case 3: nRed = 255; nGreen = 255; break; case 4: nGreen = 255; nBlue = 255; break; case 5: nRed = 255; nBlue = 255; break; case 6: nRed = 255; nGreen = 255; nBlue = 255; break; case 7: nRed = 127; nBlue = 255; break; case 8: nRed = 255; nBlue = 127; break; case 9: nRed = 127; nGreen = 255; break; } break; case RAINBOW: nColIndex = (XnUInt16)((*pDepth / (g_fMaxDepth / 256))); nRed = PalletIntsR[nColIndex]; nGreen = PalletIntsG[nColIndex]; nBlue = PalletIntsB[nColIndex]; break; case CYCLIC_RAINBOW: nColIndex = (*pDepth % 256); nRed = PalletIntsR[nColIndex]; nGreen = PalletIntsG[nColIndex]; nBlue = PalletIntsB[nColIndex]; break; case CYCLIC_RAINBOW_HISTOGRAM: { float fHist = g_pDepthHist[*pDepth]; nColIndex = (*pDepth % 256); nRed = PalletIntsR[nColIndex] * fHist; nGreen = PalletIntsG[nColIndex] * fHist; nBlue = PalletIntsB[nColIndex] * fHist; break; } default: assert(0); return; } pTexture[0] = nRed; pTexture[1] = nGreen; pTexture[2] = nBlue; if (*pDepth == 0) pTexture[3] = 0; else pTexture[3] = nAlpha; } } if (pPointer != NULL) { TextureMapDrawCursor(&g_texDepth, *pPointer); } TextureMapUpdate(&g_texDepth); TextureMapDraw(&g_texDepth, pLocation); } }
void drawDepth(IntRect* pLocation, IntPair* pPointer) { if (g_DrawConfig.Streams.Depth.Coloring != DEPTH_OFF) { if (!isDepthOn()) { drawClosedStream(pLocation, "Depth"); return; } const DepthMetaData* pDepthMD = getDepthMetaData(); const XnDepthPixel* pDepth = pDepthMD->Data(); XN_ASSERT(pDepth); if (pDepthMD->FrameID() == 0) { return; } if (g_DrawConfig.Streams.Depth.Coloring == STANDARD_DEVIATION) { XnPixelStatistics* pStatistics = g_PixelStatistics; for (XnUInt16 nY = pDepthMD->YOffset(); nY < pDepthMD->YRes() + pDepthMD->YOffset(); nY++) { XnUInt8* pTexture = TextureMapGetLine(&g_texDepth, nY) + pDepthMD->XOffset()*4; for (XnUInt16 nX = 0; nX < pDepthMD->XRes(); nX++, pTexture+=4, pStatistics++) { pTexture[0] = pTexture[1] = XN_MIN((int)pStatistics->dStdDev, 255); pTexture[2] = 0; pTexture[3] = g_DrawConfig.Streams.Depth.fTransparency*255; } } } else { // copy depth into texture-map for (XnUInt16 nY = pDepthMD->YOffset(); nY < pDepthMD->YRes() + pDepthMD->YOffset(); nY++) { XnUInt8* pTexture = TextureMapGetLine(&g_texDepth, nY) + pDepthMD->XOffset()*4; for (XnUInt16 nX = 0; nX < pDepthMD->XRes(); nX++, pDepth++, pTexture+=4) { XnUInt8 nRed = 0; XnUInt8 nGreen = 0; XnUInt8 nBlue = 0; XnUInt8 nAlpha = g_DrawConfig.Streams.Depth.fTransparency*255; XnUInt16 nColIndex; switch (g_DrawConfig.Streams.Depth.Coloring) { case LINEAR_HISTOGRAM: nRed = nGreen = g_pDepthHist[*pDepth]*255; break; case PSYCHEDELIC_SHADES: nAlpha *= (((XnFloat)(*pDepth % 10) / 20) + 0.5); case PSYCHEDELIC: switch ((*pDepth/10) % 10) { case 0: nRed = 255; break; case 1: nGreen = 255; break; case 2: nBlue = 255; break; case 3: nRed = 255; nGreen = 255; break; case 4: nGreen = 255; nBlue = 255; break; case 5: nRed = 255; nBlue = 255; break; case 6: nRed = 255; nGreen = 255; nBlue = 255; break; case 7: nRed = 127; nBlue = 255; break; case 8: nRed = 255; nBlue = 127; break; case 9: nRed = 127; nGreen = 255; break; } break; case RAINBOW: nColIndex = (XnUInt16)((*pDepth / (g_nMaxDepth / 256.))); nRed = PalletIntsR[nColIndex]; nGreen = PalletIntsG[nColIndex]; nBlue = PalletIntsB[nColIndex]; break; case CYCLIC_RAINBOW: nColIndex = (*pDepth % 256); nRed = PalletIntsR[nColIndex]; nGreen = PalletIntsG[nColIndex]; nBlue = PalletIntsB[nColIndex]; break; case CYCLIC_RAINBOW_HISTOGRAM: float fHist = g_pDepthHist[*pDepth]; nColIndex = (*pDepth % 256); nRed = PalletIntsR[nColIndex] * fHist; nGreen = PalletIntsG[nColIndex] * fHist; nBlue = PalletIntsB[nColIndex] * fHist; break; } pTexture[0] = nRed; pTexture[1] = nGreen; pTexture[2] = nBlue; if (*pDepth == 0) pTexture[3] = 0; else pTexture[3] = nAlpha; } } } // not STANDRARD_DEVIATION if (pPointer != NULL) { TextureMapDrawCursor(&g_texDepth, *pPointer); } TextureMapUpdate(&g_texDepth); TextureMapDraw(&g_texDepth, pLocation); } }
void drawColorImage(IntRect* pLocation, IntPair* pPointer, int pointerRed, int pointerGreen, int pointerBlue) { if (g_DrawConfig.Streams.bBackground) TextureMapDraw(&g_texBackground, pLocation); if (g_DrawConfig.Streams.Image.Coloring == IMAGE_OFF) return; if (!isImageOn() && !isIROn()) { drawClosedStream(pLocation, "Image"); return; } const MapMetaData* pImageMD; const XnUInt8* pImage = NULL; if (isImageOn()) { pImageMD = getImageMetaData(); pImage = getImageMetaData()->Data(); } else if (isIROn()) { pImageMD = getIRMetaData(); pImage = (const XnUInt8*)getIRMetaData()->Data(); } else return; if (pImageMD->FrameID() == 0) { return; } const DepthMetaData* pDepthMetaData = getDepthMetaData(); double grayscale16Factor = 1.0; if (pImageMD->PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT) { int nPixelsCount = pImageMD->XRes()*pImageMD->YRes(); XnUInt16* pPixel = (XnUInt16*)pImage; for (int i = 0; i < nPixelsCount; ++i,++pPixel) { if (*pPixel > g_nMaxGrayscale16Value) g_nMaxGrayscale16Value = *pPixel; } if (g_nMaxGrayscale16Value > 0) { grayscale16Factor = 255.0 / g_nMaxGrayscale16Value; } } for (XnUInt16 nY = pImageMD->YOffset(); nY < pImageMD->YRes() + pImageMD->YOffset(); nY++) { XnUInt8* pTexture = TextureMapGetLine(&g_texImage, nY) + pImageMD->XOffset()*4; if (pImageMD->PixelFormat() == XN_PIXEL_FORMAT_YUV422) { YUV422ToRGB888(pImage, pTexture, pImageMD->XRes()*2, g_texImage.Size.X*g_texImage.nBytesPerPixel); pImage += pImageMD->XRes()*2; } else { for (XnUInt16 nX = 0; nX < pImageMD->XRes(); nX++, pTexture+=4) { XnInt32 nDepthIndex = 0; if (pDepthMetaData != NULL) { XnDouble dRealX = (nX + pImageMD->XOffset()) / (XnDouble)pImageMD->FullXRes(); XnDouble dRealY = nY / (XnDouble)pImageMD->FullYRes(); XnUInt32 nDepthX = dRealX * pDepthMetaData->FullXRes() - pDepthMetaData->XOffset(); XnUInt32 nDepthY = dRealY * pDepthMetaData->FullYRes() - pDepthMetaData->YOffset(); if (nDepthX >= pDepthMetaData->XRes() || nDepthY >= pDepthMetaData->YRes()) { nDepthIndex = -1; } else { nDepthIndex = nDepthY*pDepthMetaData->XRes() + nDepthX; } } switch (pImageMD->PixelFormat()) { case XN_PIXEL_FORMAT_RGB24: pTexture[0] = pImage[0]; pTexture[1] = pImage[1]; pTexture[2] = pImage[2]; pImage+=3; break; case XN_PIXEL_FORMAT_GRAYSCALE_8_BIT: pTexture[0] = pTexture[1] = pTexture[2] = *pImage; pImage+=1; break; case XN_PIXEL_FORMAT_GRAYSCALE_16_BIT: XnUInt16* p16 = (XnUInt16*)pImage; XnUInt8 textureValue = 0; textureValue = (XnUInt8)((*p16) * grayscale16Factor); pTexture[0] = pTexture[1] = pTexture[2] = textureValue; pImage+=2; break; } // decide if pixel should be lit or not if (g_DrawConfig.Streams.Image.Coloring == DEPTH_MASKED_IMAGE && (pDepthMetaData == NULL || nDepthIndex == -1 || pDepthMetaData->Data()[nDepthIndex] == 0)) { pTexture[3] = 0; } else { pTexture[3] = 255; } } } } if (pPointer != NULL) { TextureMapDrawCursor(&g_texImage, *pPointer, pointerRed, pointerGreen, pointerBlue); } TextureMapUpdate(&g_texImage); TextureMapDraw(&g_texImage, pLocation); }