304 lines
8.8 KiB
C++
304 lines
8.8 KiB
C++
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#include "app.h"
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#include "util.h"
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#include <thread>
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#include <chrono>
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#include <sstream>
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#include <iomanip>
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#include <string>
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#include <ppl.h>
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// Constructor
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Kinect::Kinect()
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{
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// Initialize
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initialize();
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}
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// Destructor
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Kinect::~Kinect()
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{
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// Finalize
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finalize();
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}
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// Processing
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void Kinect::run()
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{
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// Main Loop
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while( !viewer.wasStopped() ){
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// Update Data
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update();
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// Draw Data
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draw();
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// Show Data
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show();
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// Wait a Few Time
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std::this_thread::sleep_for( std::chrono::milliseconds( 10 ) );
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}
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}
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// Initialize
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void Kinect::initialize()
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{
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cv::setUseOptimized( true );
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// Initialize Sensor
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initializeSensor();
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// Initialize Color
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initializeColor();
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// Initialize Depth
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initializeDepth();
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// Initialize Point Cloud
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initializePointCloud();
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// Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
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std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
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}
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// Initialize Sensor
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inline void Kinect::initializeSensor()
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{
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// Open Sensor
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ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
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ERROR_CHECK( kinect->Open() );
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// Check Open
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BOOLEAN isOpen = FALSE;
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ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
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if( !isOpen ){
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throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
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}
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// Retrieve Coordinate Mapper
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ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
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}
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// Initialize Color
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inline void Kinect::initializeColor()
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{
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// Open Color Reader
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ComPtr<IColorFrameSource> colorFrameSource;
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ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
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ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
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// Retrieve Color Description
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ComPtr<IFrameDescription> colorFrameDescription;
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ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
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ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
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ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
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ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
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// Allocation Color Buffer
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colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
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}
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// Initialize Depth
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inline void Kinect::initializeDepth()
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{
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// Open Depth Reader
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ComPtr<IDepthFrameSource> depthFrameSource;
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ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
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ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
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// Retrieve Depth Description
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ComPtr<IFrameDescription> depthFrameDescription;
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ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
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ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
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ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
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ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
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// Allocation Depth Buffer
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depthBuffer.resize( depthWidth * depthHeight );
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}
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// Initialize Point Cloud
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inline void Kinect::initializePointCloud()
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{
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// Create Window
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viewer = cv::viz::Viz3d( "Point Cloud" );
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// Register Keyboard Callback Function
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viewer.registerKeyboardCallback( &keyboardCallback, this );
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// Show Coordinate System
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viewer.showWidget( "CoordinateSystem", cv::viz::WCameraPosition::WCameraPosition( 0.5 ) );
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}
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// Keyboard Callback Function
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void Kinect::keyboardCallback( const cv::viz::KeyboardEvent& event, void* cookie )
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{
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// Exit Viewer when Pressed ESC key
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if( event.code == VK_ESCAPE && event.action == cv::viz::KeyboardEvent::Action::KEY_DOWN ){
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// Retrieve Viewer
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cv::viz::Viz3d viewer = static_cast<Kinect*>( cookie )->viewer;
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// Close Viewer
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viewer.close();
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}
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// Save Point Cloud to File when Pressed 's' key
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else if( event.code == 's' && event.action == cv::viz::KeyboardEvent::Action::KEY_DOWN ){
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// Retrieve Point Cloud and Color
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cv::Mat cloud = static_cast<Kinect*>( cookie )->cloudMat;
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cv::Mat color = static_cast<Kinect*>( cookie )->colorMat;
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// Generate File Name
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static int i = 0;
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std::ostringstream oss;
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oss << std::setfill( '0' ) << std::setw( 3 ) << i++;
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std::string file = oss.str() + ".ply";
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// Write Point Cloud to File
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cv::viz::writeCloud( file, cloud, color, cv::noArray(), false );
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}
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};
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// Finalize
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void Kinect::finalize()
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{
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cv::viz::unregisterAllWindows();
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// Close Sensor
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if( kinect != nullptr ){
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kinect->Close();
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}
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}
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// Update Data
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void Kinect::update()
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{
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// Update Color
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updateColor();
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// Update Depth
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updateDepth();
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}
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// Update Color
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inline void Kinect::updateColor()
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{
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// Retrieve Color Frame
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ComPtr<IColorFrame> colorFrame;
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const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
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if( FAILED( ret ) ){
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return;
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}
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// Convert Format ( YUY2 -> BGRA )
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ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
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}
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// Update Depth
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inline void Kinect::updateDepth()
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{
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// Retrieve Depth Frame
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ComPtr<IDepthFrame> depthFrame;
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const HRESULT ret = depthFrameReader->AcquireLatestFrame( &depthFrame );
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if( FAILED( ret ) ){
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return;
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}
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// Retrieve Depth Data
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ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
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}
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// Draw Data
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void Kinect::draw()
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{
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// Draw Color
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drawColor();
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// Draw Point Cloud
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drawPointCloud();
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}
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// Draw Color
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inline void Kinect::drawColor()
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{
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// Retrieve Mapped Coordinates
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std::vector<ColorSpacePoint> colorSpacePoints( depthWidth * depthHeight );
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ERROR_CHECK( coordinateMapper->MapDepthFrameToColorSpace( depthBuffer.size(), &depthBuffer[0], colorSpacePoints.size(), &colorSpacePoints[0] ) );
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// Mapping Color to Depth Resolution
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std::vector<BYTE> buffer( depthWidth * depthHeight * colorBytesPerPixel );
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Concurrency::parallel_for( 0, depthHeight, [&]( const int depthY ){
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const unsigned int depthOffset = depthY * depthWidth;
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for( int depthX = 0; depthX < depthWidth; depthX++ ){
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unsigned int depthIndex = depthOffset + depthX;
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const int colorX = static_cast<int>( colorSpacePoints[depthIndex].X + 0.5f );
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const int colorY = static_cast<int>( colorSpacePoints[depthIndex].Y + 0.5f );
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if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){
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const unsigned int colorIndex = ( colorY * colorWidth + colorX ) * colorBytesPerPixel;
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depthIndex = depthIndex * colorBytesPerPixel;
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buffer[depthIndex + 0] = colorBuffer[colorIndex + 0];
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buffer[depthIndex + 1] = colorBuffer[colorIndex + 1];
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buffer[depthIndex + 2] = colorBuffer[colorIndex + 2];
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buffer[depthIndex + 3] = colorBuffer[colorIndex + 3];
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}
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}
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} );
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// Create cv::Mat from Coordinate Buffer
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colorMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, &buffer[0] ).clone();
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}
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// Draw Point Cloud
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inline void Kinect::drawPointCloud()
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{
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// Retrieve Mapped Coordinates
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std::vector<CameraSpacePoint> cameraSpacePoints( depthWidth * depthHeight );
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ERROR_CHECK( coordinateMapper->MapDepthFrameToCameraSpace( depthBuffer.size(), &depthBuffer[0], cameraSpacePoints.size(), &cameraSpacePoints[0] ) );
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// Mapping Color to Depth Resolution
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std::vector<cv::Vec3f> buffer( depthWidth * depthHeight, cv::Vec3f::all( std::numeric_limits<float>::quiet_NaN() ) );
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Concurrency::parallel_for( 0, depthHeight, [&]( const int depthY ){
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const unsigned int depthOffset = depthY * depthWidth;
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for( int depthX = 0; depthX < depthWidth; depthX++ ){
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unsigned int depthIndex = depthOffset + depthX;
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UINT16 depth = depthBuffer[depthIndex];
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if( 500 <= depth && depth < 8000 ){
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CameraSpacePoint cameraSpacePoint = cameraSpacePoints[depthIndex];
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buffer[depthIndex] = cv::Vec3f( cameraSpacePoint.X, cameraSpacePoint.Y, cameraSpacePoint.Z );
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}
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}
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} );
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// Create cv::Mat from Coordinate Buffer
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cloudMat = cv::Mat( depthHeight, depthWidth, CV_32FC3, &buffer[0] ).clone();
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}
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// Show Data
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void Kinect::show()
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{
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// Show Point Cloud
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showPointCloud();
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}
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// Show Point Cloud
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inline void Kinect::showPointCloud()
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{
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if( colorMat.empty() ){
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return;
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}
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if( cloudMat.empty() ){
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return;
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}
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// Create Point Cloud
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cv::viz::WCloud cloud( cloudMat, colorMat );
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// Show Point Cloud
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viewer.showWidget( "Cloud", cloud );
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viewer.spinOnce();
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}
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