OpenCV 用cv::Mat显示OpenNI获得的Kinect深度图片

ゞ浴缸里的玫瑰 2021-11-23 21:34 147阅读 0赞

根据下面两个帖子改的程序

[http://www.cnblogs.com/TravelingLight/archive/2010/12/28/1919147.html][http_www.cnblogs.com_TravelingLight_archive_2010_12_28_1919147.html]

[http://viml.nchc.org.tw/blog/paper\_info.php?CLASS\_ID=1&SUB\_ID=1&PAPER\_ID=216][http_viml.nchc.org.tw_blog_paper_info.php_CLASS_ID_1_SUB_ID_1_PAPER_ID_216]

1~ 由于OpenNI获得的深度图片是12位无符号整数，而OpenCV显示的是8位的，所以要作转换。

RGB和BGR在内存对应的位置序列不同，所以也要转换。

2~ 编译环境不多说了吧？

[http://www.javaforge.com/wiki/101904][http_www.javaforge.com_wiki_101904] 有OpenNI的安装教程

OpenCV 2.2的… 配置好lib, include, dll那些就行了， [http://www.opencv.org.cn][http_www.opencv.org.cn] 这里也有安装的东东

\#include <stdlib.h>

\#include <iostream>

\#include <string>

\#include <XnCppWrapper.h>

\#include "opencv/cv.h"

\#include "opencv/highgui.h"

using namespace std;

using namespace cv;

void testCheckOpenNIError( XnStatus eResult, string sStatus )

if( eResult != XN\_STATUS\_OK )

cerr << sStatus << " Error: " << xnGetStatusString( eResult ) << endl;

int test( int argc, char\*\* argv )

XnStatus eResult = XN\_STATUS\_OK;

// 1. initial val

xn::DepthMetaData m\_DepthMD;

xn::ImageMetaData m\_ImageMD;

// for opencv Mat

Mat  m\_depth16u( 480,640,CV\_16UC1);

Mat  m\_rgb8u( 480,640,CV\_8UC3);

Mat  m\_DepthShow( 480,640,CV\_8UC1);

Mat  m\_ImageShow( 480,640,CV\_8UC3);

cvNamedWindow("depth");

cvNamedWindow("image");

char key=0;

// 2. initial context

xn::Context mContext;

eResult = mContext.Init();

CheckOpenNIError( eResult, "initialize context" );

// 3. create depth generator

xn::DepthGenerator mDepthGenerator;

eResult = mDepthGenerator.Create( mContext );

CheckOpenNIError( eResult, "Create depth generator" );

// 4. create image generator

xn::ImageGenerator mImageGenerator;

eResult = mImageGenerator.Create( mContext );

CheckOpenNIError( eResult, "Create image generator" );

// 5. set map mode

XnMapOutputMode mapMode;

mapMode.nXRes = 640;

mapMode.nYRes = 480;

mapMode.nFPS = 30;

eResult = mDepthGenerator.SetMapOutputMode( mapMode );

eResult = mImageGenerator.SetMapOutputMode( mapMode );

// 6. correct view port

mDepthGenerator.GetAlternativeViewPointCap().SetViewPoint( mImageGenerator );

// 7. tart generate data

eResult = mContext.StartGeneratingAll();

// 8. read data

eResult = mContext.WaitNoneUpdateAll();

while( (key!=27) && !(eResult = mContext.WaitNoneUpdateAll( ))  )

// 9a. get the depth map

mDepthGenerator.GetMetaData(m\_DepthMD);

memcpy(m\_depth16u.data,m\_DepthMD.Data(),640\*480\*2);

// 9b. get the image map

mImageGenerator.GetMetaData(m\_ImageMD);

memcpy(m\_rgb8u.data,m\_ImageMD.Data(),640\*480\*3);

m\_depth16u.convertTo(m\_DepthShow,CV\_8U,255/2096.0);

cvtColor(m\_rgb8u,m\_ImageShow,CV\_RGB2BGR);

imshow("depth", m\_DepthShow);

imshow("image", m\_ImageShow);

key=cvWaitKey(20);

// 10. stop

mContext.StopGeneratingAll();

mContext.Shutdown();

return 0;

trackback:  [http://blog.163.com/gz\_ricky/blog/static/182049118201122311118325/][http_blog.163.com_gz_ricky_blog_static_182049118201122311118325]

转载于:https://www.cnblogs.com/JohnShao/archive/2011/05/14/2046033.html

[http_www.cnblogs.com_TravelingLight_archive_2010_12_28_1919147.html]: http://www.cnblogs.com/TravelingLight/archive/2010/12/28/1919147.html
[http_viml.nchc.org.tw_blog_paper_info.php_CLASS_ID_1_SUB_ID_1_PAPER_ID_216]: http://viml.nchc.org.tw/blog/paper_info.php?CLASS_ID=1&SUB_ID=1&PAPER_ID=216
[http_www.javaforge.com_wiki_101904]: http://www.javaforge.com/wiki/101904
[http_www.opencv.org.cn]: http://www.opencv.org.cn/
[http_blog.163.com_gz_ricky_blog_static_182049118201122311118325]: http://blog.163.com/gz_ricky/blog/static/182049118201122311118325/