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changeset 6:db8f1c036d0e
quick backup - skata o kwdikas
| author | Eleni Maria Stea <eleni@mutantstargoat.com> |
|---|---|
| date | Sun, 03 Nov 2013 20:36:45 +0200 |
| parents | 700127288dc5 |
| children | 4f1b8ddcd32e |
| files | src/frame.cc src/frame.h |
| diffstat | 2 files changed, 16 insertions(+), 22 deletions(-) [+] |
line diff
1.1 --- a/src/frame.cc Thu Oct 24 00:09:13 2013 +0300 1.2 +++ b/src/frame.cc Sun Nov 03 20:36:45 2013 +0200 1.3 @@ -1,6 +1,7 @@ 1.4 #include <GL/gl.h> 1.5 #include <cxcore.h> 1.6 #include <highgui.h> //TODO remove 1.7 +#include <cv.h> //TODO remove 1.8 1.9 #include <pthread.h> 1.10 #include <stdio.h> 1.11 @@ -18,7 +19,7 @@ 1.12 Frame::Frame() 1.13 { 1.14 video_buf = cv::Mat::zeros(KINECT_VIDEO_HEIGHT, KINECT_VIDEO_WIDTH, CV_8UC3); 1.15 - depth_buf = cv::Mat::zeros(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_8UC1); 1.16 + depth_buf = cv::Mat::zeros(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_16UC1); 1.17 1.18 tex_setup(); 1.19 } 1.20 @@ -81,16 +82,12 @@ 1.21 } 1.22 1.23 /* freenect depth data to cv mat: */ 1.24 - unsigned char* src = (unsigned char*)depth; 1.25 - unsigned char* dest = frame->depth_buf.data; 1.26 1.27 - for(int i=0; i<KINECT_DEPTH_HEIGHT * KINECT_DEPTH_WIDTH; i++) { 1.28 - *dest = *src; 1.29 - dest++; 1.30 - src++; 1.31 - } 1.32 + memcpy(frame->depth_buf.data, depth, KINECT_DEPTH_WIDTH * KINECT_DEPTH_HEIGHT * 2); 1.33 1.34 - save_depth_ppm(depth, 640, 480); 1.35 + save_depth_ppm(depth, KINECT_DEPTH_WIDTH, KINECT_DEPTH_HEIGHT); 1.36 + cv::imshow("foo", frame->depth_buf); 1.37 + cv::waitKey(100); 1.38 has_depth = true; 1.39 } 1.40 1.41 @@ -101,16 +98,14 @@ 1.42 fprintf(stderr, "Failed to open video file for writing.\n"); 1.43 return false; 1.44 } 1.45 - fprintf(fp, "P6\n640 480\n255\n"); 1.46 -/* unsigned char *ptr = (unsigned char*)video; 1.47 + fprintf(fp, "P6\n%d %d\n255\n", w, h); 1.48 + unsigned char *ptr = (unsigned char*)video; 1.49 for(int i=0; i<w * h * 3; i++) { 1.50 fputc(*ptr, fp); 1.51 ptr++; 1.52 } 1.53 fclose(fp); 1.54 return true; 1.55 - */ 1.56 - return false; 1.57 } 1.58 1.59 bool save_depth_ppm(void *depth, int w, int h) 1.60 @@ -120,15 +115,13 @@ 1.61 fprintf(stderr, "Failed to open depth file for writing.\n"); 1.62 return false; 1.63 } 1.64 - fprintf(fp, "P6\n640 480\n255\n"); 1.65 - unsigned char *ptr = (unsigned char*)depth; 1.66 - unsigned char *foo = (unsigned char*)depth; 1.67 - for(int i=0; i<h; i++) { 1.68 - for(int j=0; j<w; j++) { 1.69 - *foo = *ptr; 1.70 - fputc(foo[i * w + j], fp); 1.71 - ptr++; 1.72 - } 1.73 + fprintf(fp, "P6\n%d %d\n255\n", w, h); 1.74 + uint16_t *ptr = (uint16_t*)depth; 1.75 + for(int i=0; i<w * h; i++) { 1.76 + unsigned char c = *ptr++ >> 8; 1.77 + fputc(c, fp); 1.78 + fputc(c, fp); 1.79 + fputc(c, fp); 1.80 } 1.81 fclose(fp); 1.82 return true;