Transfer depth data from ofxOpenNI to ofOpenCV

ofxOpenNI to ofOpenCV

#ifndef _NEOCOS
#define _NEOCOS


#include "ofMain.h"
#include "ofxOpenNI.h"
#include "myDepthGenerator.h"

class neocos : public ofBaseApp{

	public:
		void setup();
		void update();
		void draw();

		void keyPressed  (int key);
		void keyReleased(int key);
		void mouseMoved(int x, int y );
		void mouseDragged(int x, int y, int button);
		void mousePressed(int x, int y, int button);
		void mouseReleased(int x, int y, int button);
		void windowResized(int w, int h);

		ofxOpenNIContext	recordContext;
		ofxDepthGenerator	recordDepth;
		ofxImageGenerator	recordImage;
		ofxUserGenerator	recordUser, playUser;
		ofxOpenNIRecorder	oniRecorder;

		unsigned char * depth_pixels;

		ofxCvGrayscaleImage grayImage;

};

#endif

ofxOpenNI to ofOpenCV (header)

#include "neocos.h"

//--------------------------neocos------------------------------------
void neocos::setup(){
	ofBackground(0, 0, 0);
	ofSetFrameRate(30);
	
	recordContext.setup();
	recordContext.setupUsingXMLFile();
	recordDepth.setup(&recordContext);
	recordImage.setup(&recordContext);
	
	recordUser.setup(&recordContext, &recordDepth, &recordImage);
	
	recordDepth.toggleRegisterViewport(&recordImage);
	recordContext.toggleMirror();
	
	oniRecorder.setup(&recordContext, &recordDepth, &recordImage);	

	XnMapOutputMode map_mode; 
	map_mode.nXRes = XN_VGA_X_RES; 
	map_mode.nYRes = XN_VGA_Y_RES;
	map_mode.nFPS = 30;
	
	depth_pixels = new unsigned char[map_mode.nXRes * map_mode.nYRes * 4];
	memset(depth_pixels, 0, map_mode.nXRes * map_mode.nYRes * 4 * sizeof(unsigned char));

	grayImage.allocate(640, 480);
	
	
}

//--------------------------------------------------------------
void neocos::update(){
	recordContext.update();
	recordUser.update();
	

	xn::DepthGenerator& dgen = recordDepth.getXnDepthGenerator();
	xn::DepthMetaData dmd;
	dgen.GetMetaData(dmd);
	
	const XnDepthPixel* depth = dmd.Data();
	float max_depth = dgen.GetDeviceMaxDepth();
	
	int pos = 0;
	for (XnUInt16 y = dmd.YOffset(); y < dmd.YRes() + dmd.YOffset(); y++) {
		for (XnUInt16 x = 0; x < dmd.XRes(); x++, depth++){
			pos++;
			depth_pixels[pos] = (XnUInt16)(((*depth) / (max_depth / 256)));
		}
	}
	
	grayImage.setFromPixels(depth_pixels, 640, 480);
	
}

//--------------------------------------------------------------
void neocos::draw(){
	ofSetColor(255, 255, 255);
	//recordDepth.draw(0,0,640,480);
	//grayImage.draw(0, 0);
	grayImage.draw(0, 0);
	recordUser.draw();
	recordImage.draw(640, 0, 640, 480);
	
	glEnable(GL_BLEND);
	glBlendFunc(GL_DST_COLOR, GL_ZERO);
	recordUser.drawUserMasks(640, 0);
	glDisable(GL_BLEND);
	
}

//--------------------------------------------------------------
void neocos::keyPressed(int key){

}

//--------------------------------------------------------------
void neocos::keyReleased(int key){

}

//--------------------------------------------------------------
void neocos::mouseMoved(int x, int y ){

}

//--------------------------------------------------------------
void neocos::mouseDragged(int x, int y, int button){

}

//--------------------------------------------------------------
void neocos::mousePressed(int x, int y, int button){

}

//--------------------------------------------------------------
void neocos::mouseReleased(int x, int y, int button){

}

//--------------------------------------------------------------
void neocos::windowResized(int w, int h){

}