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NiteSampleUtilities.h
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NiteSampleUtilities.h
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/*******************************************************************************
* *
* PrimeSense NiTE 2.0 - Common Utilities for Samples *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
*******************************************************************************/
#ifndef _NITE_SAMPLE_UTILITIES_H_
#define _NITE_SAMPLE_UTILITIES_H_
#include <stdio.h>
#include <OpenNI.h>
#ifdef WIN32
#include <conio.h>
int wasKeyboardHit()
{
return (int)_kbhit();
}
#else // linux
#include <unistd.h>
#include <stdlib.h>
#include <termios.h>
#include <fcntl.h>
int wasKeyboardHit()
{
struct termios oldt, newt;
int ch;
int oldf;
// don't echo and don't wait for ENTER
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
// make it non-blocking (so we can check without waiting)
if (0 != fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK))
{
return 0;
}
ch = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
if (0 != fcntl(STDIN_FILENO, F_SETFL, oldf))
{
return 0;
}
if(ch != EOF)
{
ungetc(ch, stdin);
return 1;
}
return 0;
}
#endif // WIN32
void calculateHistogram(float* pHistogram, int histogramSize, const openni::VideoFrameRef& depthFrame)
{
const openni::DepthPixel* pDepth = (const openni::DepthPixel*)depthFrame.getData();
int width = depthFrame.getWidth();
int height = depthFrame.getHeight();
// Calculate the accumulative histogram (the yellow display...)
memset(pHistogram, 0, histogramSize*sizeof(float));
int restOfRow = depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel) - width;
unsigned int nNumberOfPoints = 0;
for (int y = 0; y < height; ++y)
{
for (int x = 0; x < width; ++x, ++pDepth)
{
if (*pDepth != 0)
{
pHistogram[*pDepth]++;
nNumberOfPoints++;
}
}
pDepth += restOfRow;
}
for (int nIndex=1; nIndex<histogramSize; nIndex++)
{
pHistogram[nIndex] += pHistogram[nIndex-1];
}
if (nNumberOfPoints)
{
for (int nIndex=1; nIndex<histogramSize; nIndex++)
{
pHistogram[nIndex] = (256 * (1.0f - (pHistogram[nIndex] / nNumberOfPoints)));
}
}
}
#endif // _NITE_SAMPLE_UTILITIES_H_