public void Process(BaseCameraApplication app)
{
CameraDataFilter filter = app.GetImageFilter();
kernelCopyImage.Execute(new CLCalc.Program.MemoryObject[] {
app.GetPrimaryDevice().GetDepthImage().GetMemoryObject(),
filter.GetTextureImage(),
filter.GetColorImage(),
pointBuffer,
colorBuffer}, new int[] { filter.GetDepthImage().Width, filter.GetDepthImage().Height });
pointBuffer.ReadFromDeviceTo(points);
int vertexCount = points.Length / 4;
/*
for (int i = 0; i < points.Length; i += 4)
{
float4 pt = new float4(points[i], points[i + 1], points[i + 2], points[i + 3]);
if (pt.z>200.0&&pt.z < 2000.0f&&pt.w>100.0f)
{
vertexCount++;
}
}
* */
colorBuffer.ReadFromDeviceTo(colors);
string path = outputDir + "pointcloud" + counter.ToString("0000") + ".xyz";
MeshReaderWriter writer = new MeshReaderWriter(vertexCount, 0, path);
float minDepth = app.GetPrimaryDevice().GetMinDepth();
float maxDepth = app.GetPrimaryDevice().GetMaxDepth();
for (int i = 0; i < points.Length; i += 4)
{
float4 pt = new float4(points[i], points[i + 1], points[i + 2], points[i + 3]);
float4 rgb = new float4(colors[i], colors[i + 1], colors[i + 2], colors[i + 3]);
if (pt.z > minDepth && pt.z < maxDepth && pt.w > 100.0f)
{
writer.AddPoint(pt, rgb);
}
else
{
writer.AddPoint(new float4(), new float4());
}
}
writer.Close();
counter++;
}
public void Initialize(BaseCameraApplication capture)
{
DepthCameraFrame depthImage = capture.GetPrimaryDevice().GetDepthImage();
this.width = depthImage.Width;
this.height = depthImage.Height;
this.filter = ((AdaptiveTemporalFilter)capture.GetImageFilter());
CvSize sz = new CvSize(depthImage.Width, depthImage.Height);
gray = new IplImage(sz, BitDepth.U8, 1);
erode = new IplImage(sz, BitDepth.U8, 1);
dilate = new IplImage(sz, BitDepth.U8, 1);
tmp = new IplImage(sz, BitDepth.U8, 1);
mask = new IplImage(sz, BitDepth.U8, 1);
imgLabel = new IplImage(sz, BitDepth.F32, 1);
faceDetectionBuffer = CLCalc.Program.Variable.Create(new ComputeBuffer<FaceLandmarks>(CLCalc.Program.Context, ComputeMemoryFlags.ReadWrite, 1));
try
{
CLCalc.Program.Compile(capture.GetPrimaryDevice().GetPreprocessCode() + src);
}
catch (BuildProgramFailureComputeException ex)
{
System.Console.WriteLine(ex.Message);
Environment.Exit(1);
}
irImageBuffer = CLCalc.Program.Variable.Create(new ComputeBuffer<byte>(CLCalc.Program.Context, ComputeMemoryFlags.ReadWrite | ComputeMemoryFlags.CopyHostPointer, ir = new byte[width * height]));
kernelCopyIRImage = new CLCalc.Program.Kernel("CopyIRImage");
kernelFindFaceLandmarks = new CLCalc.Program.Kernel("FindFaceLandmarks");
}
public void Process(BaseCameraApplication app)
{
if (Visible || WireFrame)
{
DepthCameraFrame depthFrame = app.GetPrimaryDevice().GetDepthImage();
ColorCameraFrame colorFrame = app.GetPrimaryDevice().GetColorImage();
TextureMapFrame textureFrame = app.GetPrimaryDevice().GetTextureImage();
CameraDataFilter filter = (CameraDataFilter)app.GetImageFilter();
CLGLInteropFunctions.AcquireGLElements(new CLCalc.Program.MemoryObject[] { positionBuffer, colorBuffer, normalBuffer });
CLCalc.Program.MemoryObject[] args = new CLCalc.Program.MemoryObject[] {
app.GetPrimaryDevice().GetBoundingBox(),filter.GetDepthImage(),filter.GetTextureImage(),colorFrame.GetMemoryObject(),positionBuffer,colorBuffer,normalBuffer};
kernelCopyImage.Execute(args, new int[] { depthFrame.Width, depthFrame.Height });
CLGLInteropFunctions.ReleaseGLElements(new CLCalc.Program.MemoryObject[] { positionBuffer, colorBuffer, normalBuffer });
}
}