Converter.cpp

#define NOMINMAX
#define _WINSOCKAPI_

#include "Converter.h"



/***
Returns the next frame if next frame is recorded
Returns the previous frame if next frame is not recorded
***/
void Converter::ConvertPXCImageToOpenCVMat(Intel::RealSense::Image *inImg, cv::Mat *outImg){

    int cvDataType;
    int cvDataWidth;


    Intel::RealSense::Image::ImageData data;
    inImg->AcquireAccess(Intel::RealSense::Image::ACCESS_READ, &data);
    Intel::RealSense::Image::ImageInfo imgInfo = inImg->QueryInfo();

    switch (data.format) {

    case Intel::RealSense::Image::PIXEL_FORMAT_YUY2:
    case Intel::RealSense::Image::PIXEL_FORMAT_NV12:
        throw(0); // Not implemented
    case Intel::RealSense::Image::PIXEL_FORMAT_RGB32:
        cvDataType = CV_8UC4;
        cvDataWidth = 4;
        break;
    case Intel::RealSense::Image::PIXEL_FORMAT_RGB24:
        cvDataType = CV_8UC3;
        cvDataWidth = 3;
        break;
    case Intel::RealSense::Image::PIXEL_FORMAT_Y8:
        cvDataType = CV_8U;
        cvDataWidth = 1;
        break;


    case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH:
    case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_RAW:
        cvDataType = CV_16U;
        cvDataWidth = 2;
        break;
    case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_F32:
        cvDataType = CV_32F;
        cvDataWidth = 4;
        break;


    case Intel::RealSense::Image::PIXEL_FORMAT_Y16:
        cvDataType = CV_16U;
        cvDataWidth = 2;
        break;
    case Intel::RealSense::Image::PIXEL_FORMAT_Y8_IR_RELATIVE:
        cvDataType = CV_8U;
        cvDataWidth = 1;
        break;
    }

    // suppose that no other planes
    if (data.planes[1] != NULL) throw(0); // not implemented
                                          // suppose that no sub pixel padding needed
    if (data.pitches[0] % cvDataWidth != 0) throw(0); // not implemented

    outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);

    //memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth * sizeof(pxcBYTE));
    memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth * sizeof(uint8_t));

    inImg->ReleaseAccess(&data);
}