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Commit a6e10ef5 by wester
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parent aeb89804
Pipeline #277 passed with stage
    in 25 seconds
    Showing with 1940 additions and 22 deletions
    3_PointCloud/main.cpp
    ...@@ -227,20 +227,30 @@ void getDepthData(IMultiSourceFrame* frame) { ...@@ -227,20 +227,30 @@ void getDepthData(IMultiSourceFrame* frame) {
    //bilateralFilterOwn(buf, filterd, 5, 12.0, 16.0); //bilateralFilterOwn(buf, filterd, 5, 12.0, 16.0);
    //const unsigned short* curr = (const unsigned short*)filterd; //const unsigned short* curr = (const unsigned short*)filterd;
    cv::Mat OriginalDepthFrame = cv::Mat(width, height, CV_16UC1, &buf); cv::Mat OriginalDepthFrame(height, width, CV_16UC1);// , &buf);
    const unsigned short* curr = (const unsigned short*)buf;
    for (unsigned int y = 0; y < height; y++)
    {
    for (unsigned int x = 0; x < width; x++)
    {
    OriginalDepthFrame.ptr<unsigned short>(y)[x] = curr[x + y* width];
    }
    }
    cv::Mat FilerdDepth; cv::Mat FilerdDepth;
    FilerdDepth.create(OriginalDepthFrame.size(), OriginalDepthFrame.type()); FilerdDepth.create(OriginalDepthFrame.size(), OriginalDepthFrame.type());
    FastDepthNoiseRemoval filter(3,0.0f,3, 1.0f); FastDepthNoiseRemoval filter(3,0.0f,3, 100.0f);
    filter.setKillBorder(true); filter.setKillBorder(true);
    filter.setInput(OriginalDepthFrame); filter.setInput(OriginalDepthFrame);
    //filter.filter(OriginalDepthFrame); filter.filter(OriginalDepthFrame);
    // cv::imshow("Input", OriginalDepthFrame);
    //cv::bilateralFilter(OriginalDepthFrame, FilerdDepth, 15, 80, 80); //cv::bilateralFilter(OriginalDepthFrame, FilerdDepth, 15, 80, 80);
    //const unsigned short* curr = (const unsigned short*)buf; //const unsigned short* curr = (const unsigned short*)buf;
    const unsigned short* curr = (const unsigned short*)OriginalDepthFrame.data; curr = (const unsigned short*)OriginalDepthFrame.data;
    // Write vertex coordinates // Write vertex coordinates
    mapper->MapDepthFrameToCameraSpace(width*height, curr, width*height, depth2xyz); mapper->MapDepthFrameToCameraSpace(width*height, curr, width*height, depth2xyz);
    ...@@ -325,7 +335,7 @@ void getRgbData(IMultiSourceFrame* frame) { ...@@ -325,7 +335,7 @@ void getRgbData(IMultiSourceFrame* frame) {
    *fvalid++ = false; *fvalid++ = false;
    } }
    else { else {
    if (depth2xyz[i].Z > maxTrackingKinect || depth2xyz[i].Z < minTrackingKinect) { if (depth2xyz[i].Z > maxTrackingKinect || depth2xyz[i].Z < minTrackingKinect) {
    *fdest++ = 0; *fdest++ = 0;
    *fdest++ = 255; *fdest++ = 255;
    ...@@ -335,25 +345,27 @@ void getRgbData(IMultiSourceFrame* frame) { ...@@ -335,25 +345,27 @@ void getRgbData(IMultiSourceFrame* frame) {
    continue; continue;
    } }
    if (enableCustomCloudFilter && frameDepthDifference[i] > 100.0) { if (enableCustomCloudFilter) {
    *fdest++ = 255; if ( frameDepthDifference[i] > 100.0) {
    *fdest++ = 140; *fdest++ = 255;
    *fdest++ = 0; *fdest++ = 140;
    *fdest++ = 0;
    *fvalid++ = false; *fvalid++ = false;
    continue; continue;
    } }
    float angle = dot(frameNormals[i], glm::vec3(0.0, 0.0, 1.0)); float angle = dot(frameNormals[i], glm::vec3(0.0, 0.0, 1.0));
    if (enableCustomCloudFilter && angle < 0.05) { if ( angle < 0.05) {
    *fdest++ = 0; *fdest++ = 0;
    *fdest++ = 0; *fdest++ = 0;
    *fdest++ = 255; *fdest++ = 255;
    *fvalid++ = false; *fvalid++ = false;
    continue; continue;
    } }
    }
    int idx = (int)p.X + colorwidth*(int)p.Y; int idx = (int)p.X + colorwidth*(int)p.Y;
    *fdest++ = rgbimage[4 * idx + 0]; *fdest++ = rgbimage[4 * idx + 0];
    *fdest++ = rgbimage[4 * idx + 1]; *fdest++ = rgbimage[4 * idx + 1];
    ......
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