Merge pull request #11519 from paroj:openni_color

samples/cpp/openni_capture.cpp

@@ -26,7 +26,7 @@ static void help()
          << endl;
 }
 
-static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, float S=1.f, float V=1.f )
+static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f)
 {
     CV_Assert( !gray.empty() );
     CV_Assert( gray.type() == CV_8UC1 );
@@ -42,41 +42,9 @@ static void colorizeDisparity( const Mat& gray, Mat& rgb, double maxDisp=-1.f, f
     if( maxDisp < 1 )
         return;
 
-    for( int y = 0; y < gray.rows; y++ )
-    {
-        for( int x = 0; x < gray.cols; x++ )
-        {
-            uchar d = gray.at<uchar>(y,x);
-            unsigned int H = ((uchar)maxDisp - d) * 240 / (uchar)maxDisp;
-
-            unsigned int hi = (H/60) % 6;
-            float f = H/60.f - H/60;
-            float p = V * (1 - S);
-            float q = V * (1 - f * S);
-            float t = V * (1 - (1 - f) * S);
-
-            Point3f res;
-
-            if( hi == 0 ) //R = V,  G = t,  B = p
-                res = Point3f( p, t, V );
-            if( hi == 1 ) // R = q, G = V,  B = p
-                res = Point3f( p, V, q );
-            if( hi == 2 ) // R = p, G = V,  B = t
-                res = Point3f( t, V, p );
-            if( hi == 3 ) // R = p, G = q,  B = V
-                res = Point3f( V, q, p );
-            if( hi == 4 ) // R = t, G = p,  B = V
-                res = Point3f( V, p, t );
-            if( hi == 5 ) // R = V, G = p,  B = q
-                res = Point3f( q, p, V );
-
-            uchar b = (uchar)(std::max(0.f, std::min (res.x, 1.f)) * 255.f);
-            uchar g = (uchar)(std::max(0.f, std::min (res.y, 1.f)) * 255.f);
-            uchar r = (uchar)(std::max(0.f, std::min (res.z, 1.f)) * 255.f);
-
-            rgb.at<Point3_<uchar> >(y,x) = Point3_<uchar>(b, g, r);
-        }
-    }
+    Mat tmp;
+    convertScaleAbs(gray, tmp, 255.f / maxDisp);
+    applyColorMap(tmp, rgb, COLORMAP_JET);
 }
 
 static float getMaxDisparity( VideoCapture& capture )