ofxMultiKinectV2_crop_clip.h

#pragma once

#include "ofxMultiKinectV2.h"
#include "ofxCv.h"

class Kinect : public ofxMultiKinectV2
{
public:
	template<typename PixelType>
	ofPixels_<PixelType> getClippedPixels(const ofRectangle &crop_rect, unsigned short min_distance_in_mm, unsigned short max_distance_in_mm) {
		ofPixels_<PixelType> ret;
		const cv::Mat &src = ofxCv::toCv(getDepthPixelsRef());
		if(src.empty()) return ret;
		cv::Rect rect = ofxCv::toCv(crop_rect);
		cv::Mat result(rect.size(), cvType<PixelType>(), cv::Scalar(0));
		cv::Mat crop(src, rect);
		cv::Mat mask;
		cv::inRange(crop, min_distance_in_mm, max_distance_in_mm, mask);
		double nearest, farest;
		cv::minMaxLoc(crop, &nearest, &farest, nullptr, nullptr, mask);
		double ratio = std::numeric_limits<PixelType>::max()/(double)(max_distance_in_mm-min_distance_in_mm);
		nearest = (nearest-min_distance_in_mm)*ratio;
		farest = (farest-min_distance_in_mm)*ratio;
		cv::normalize(crop, result, farest, nearest, cv::NORM_MINMAX, cvType<PixelType>(), mask);
		ofxCv::toOf(result, ret);
		return std::move(ret);
	}
private:
	template<typename PixelType> int cvType() const;
};

template<> inline int Kinect::cvType<unsigned char>() const { return CV_8UC1; }
template<> inline int Kinect::cvType<unsigned short>() const { return CV_16UC1; }
template<> inline int Kinect::cvType<float>() const { return CV_32FC1; }