void GeneratePointCloud(DepthGenerator& rDepthGen, const XnDepthPixel* pDepth, VISION_DATA &pData)
{
DepthMetaData mDepthMD;
rDepthGen.GetMetaData(mDepthMD);
pData.timeStamp = mDepthMD.Timestamp();
unsigned int uPointNum = mDepthMD.FullXRes() * mDepthMD.FullYRes();
XnPoint3D* pDepthPointSet = new XnPoint3D[uPointNum];
unsigned int i, j, idxshift, idx;
for( j = 0; j < mDepthMD.FullYRes(); ++j)
{
idxshift = j * mDepthMD.FullXRes();
for(i = 0; i < mDepthMD.FullXRes(); ++i)
{
idx = idxshift + i;
pDepthPointSet[idx].X = i;
pDepthPointSet[idx].Y = j;
pDepthPointSet[idx].Z = pDepth[idx];
}
}
XnPoint3D* p3DPointSet = new XnPoint3D[uPointNum];
rDepthGen.ConvertProjectiveToRealWorld(uPointNum, pDepthPointSet, p3DPointSet);
memcpy(pData.pointCloud, p3DPointSet, uPointNum*3*sizeof(float));
delete[] pDepthPointSet;
delete[] p3DPointSet;
}
int OpencvModule::DrawDepth(DepthMetaData& g_depthMD){
if (!cvGetWindowHandle("Caremedia Kinect Viewer")) // if(window has been closed)
{
if (windowopened) {windowopened=false; return 0; }
else windowopened = true;
}
int key=0;
//for opencv Mat, accessing buffer
Mat depth16(480,640,CV_16UC1,(unsigned short*)g_depthMD.WritableData());
depth16.convertTo(depth8,CV_8U,-255/4096.0,255);
Pseudocolor->pseudocolor(depth8,rgbdepth);
//CvFont font;
//cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0, 1, CV_AA);
float aux=((float)g_depthMD.Timestamp())/1E6;
QVariant time_double(aux);
QTime t = videostarttime.addSecs((int)aux).addMSecs((int)(aux - (int)aux ) * 1000);
float percent = (float)100*(float)g_depthMD.FrameID() / (float)NumFrames;
QString a;
putText(rgbdepth,"Time:"+t.toString().toStdString(), cvPoint(460,30),5,1,cvScalar(255, 255, 255, 0),1,1);
putText(rgbdepth, a.setNum(percent,'f',2).append("%").toStdString(), cvPoint(5,30),6,0.6,cvScalar(255, 255, 255, 0),1,1);
imshow("Caremedia Kinect Viewer",rgbdepth);
key = waitKey(5);
}
