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Merge pull request #11519 from paroj:openni_color

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This commit is contained in:
Alexander Alekhin 2018-05-15 16:54:24 +00:00
commit ed63c43cda
1 changed files with 4 additions and 36 deletions
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40
samples/cpp/openni_capture.cpp
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@ -26,7 +26,7 @@ static void help()
<< endl;
}
static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, float S=1.f, float V=1.f )
static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f)
{
CV_Assert( !gray.empty() );
CV_Assert( gray.type() == CV_8UC1 );
@ -42,41 +42,9 @@ static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, f
if( maxDisp < 1 )
return;
for( int y = 0; y < gray.rows; y++ )
{
for( int x = 0; x < gray.cols; x++ )
{
uchar d = gray.at<uchar>(y,x);
unsigned int H = ((uchar)maxDisp - d) * 240 / (uchar)maxDisp;
unsigned int hi = (H/60) % 6;
float f = H/60.f - H/60;
float p = V * (1 - S);
float q = V * (1 - f * S);
float t = V * (1 - (1 - f) * S);
Point3f res;
if( hi == 0 ) //R = V, G = t, B = p
res = Point3f( p, t, V );
if( hi == 1 ) // R = q, G = V, B = p
res = Point3f( p, V, q );
if( hi == 2 ) // R = p, G = V, B = t
res = Point3f( t, V, p );
if( hi == 3 ) // R = p, G = q, B = V
res = Point3f( V, q, p );
if( hi == 4 ) // R = t, G = p, B = V
res = Point3f( V, p, t );
if( hi == 5 ) // R = V, G = p, B = q
res = Point3f( q, p, V );
uchar b = (uchar)(std::max(0.f, std::min (res.x, 1.f)) * 255.f);
uchar g = (uchar)(std::max(0.f, std::min (res.y, 1.f)) * 255.f);
uchar r = (uchar)(std::max(0.f, std::min (res.z, 1.f)) * 255.f);
rgb.at<Point3_<uchar> >(y,x) = Point3_<uchar>(b, g, r);
}
}
Mat tmp;
convertScaleAbs(gray, tmp, 255.f / maxDisp);
applyColorMap(tmp, rgb, COLORMAP_JET);
}
static float getMaxDisparity( VideoCapture& capture )