OpenNI+OpenCV对Kinect采集的彩色图和深度图进行滤波

最新推荐文章于 2024-09-27 23:04:02 发布

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最新推荐文章于 2024-09-27 23:04:02 发布

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from： OpenNI+OpenCV对Kinect采集的彩色图和深度图进行滤波

平台：Windows 7 x86，OpenCV2.4.9，OpenNI1.5.4.0，VS2010

采用了4种方式对彩色图和深度图进行滤波，分别为均值滤波、高斯滤波、中值滤波和双边滤波。并且利用滚动条实现4种滤波方式的参数可调。

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<span style="font-size:14px;">#include <stdlib.h>
#include <iostream>
#include <string>
#include <XnCppWrapper.h>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace xn;
using namespace cv;
//---------------------------------【全局变量声明】---------------------------------//
Mat cvBGRImage, blur_c_out, GaussianBlur_c_out, MedianBlur_c_out, bilateralFilter_c_out;
Mat cvDepthImage8UC1, blur_g_out, GaussianBlur_g_out, MedianBlur_g_out, bilateralFilter_g_out;
int g_nMeanBlurValue=10; //均值滤波内核值
int g_nGaussianBlurValue=6; //高斯滤波内核值
int g_nMedianBlurValue=10; //中值滤波参数值
int g_nBilateralFilterValue=10; //双边滤波参数值
//---------------------------------------------------------------------------------//
//---------------------------------【全局函数声明】---------------------------------//
static void on_MeanBlur_c(int, void *); //均值滤波器(彩色)
static void on_GaussianBlur_c(int, void *); //高斯滤波器(彩色)
static void on_MedianBlur_c(int, void *); //中值滤波器(彩色)
static void on_BilateralFilter_c(int, void *); //双边滤波器(彩色)
static void on_MeanBlur_g(int, void *); //均值滤波器(深度)
static void on_GaussianBlur_g(int, void *); //高斯滤波器(深度)
static void on_MedianBlur_g(int, void *); //中值滤波器(深度)
static void on_BilateralFilter_g(int, void *); //双边滤波器(深度)
void ShowHelpText();
//---------------------------------------------------------------------------------//
void CheckOpenNIError(XnStatus eResult,string sStatus) //检测错误并返回错误的函数
{
if(eResult != XN_STATUS_OK)
cout << sStatus << "Error: " << xnGetStatusString(eResult) << endl;
}
int main()
{
//system("color 4F"); //cmd窗口颜色
ShowHelpText();
XnStatus eResult = XN_STATUS_OK;
ImageMetaData imageMD;
DepthMetaData depthMD;
Context mContext; //初始化上下文对象
eResult = mContext.Init();
CheckOpenNIError(eResult, "Initialize context");
ImageGenerator mImageGenerator; //创建彩色图像生产节点
eResult = mImageGenerator.Create(mContext);
CheckOpenNIError(eResult, "Create image generator");
DepthGenerator mDepthGenerator; //创建深度图像生产节点
eResult = mDepthGenerator.Create(mContext);
CheckOpenNIError(eResult, "Create depth generator");
XnMapOutputMode mapMode; //设置图像分辨率
mapMode.nXRes = 640;
mapMode.nYRes = 480;
mapMode.nFPS = 30;
eResult = mImageGenerator.SetMapOutputMode(mapMode);
eResult = mDepthGenerator.SetMapOutputMode(mapMode);
mDepthGenerator.GetAlternativeViewPointCap().SetViewPoint(mImageGenerator);//深度图像视角转换成彩色图象视角
eResult = mContext.StartGeneratingAll(); //开始产生数据
char key;
while((key != 27) && !(eResult = mContext.WaitNoneUpdateAll()))
{
//-------------------------------------------【【【彩色图像处理部分】】】--------------------------------------------//
//====================【<0>原图-彩色】====================//
mImageGenerator.GetMetaData(imageMD);
Mat cvRGBImage(imageMD.FullYRes(), imageMD.FullXRes(), CV_8UC3, (XnUInt8*) imageMD.Data());
cvtColor(cvRGBImage, cvBGRImage, CV_RGB2BGR);//整幅图像颜色转换,因为opencv中采用BGR方式排列
namedWindow("<0>【原图-彩色】");
imshow("<0>【原图-彩色】", cvBGRImage);
//=======================================================//
//====================【<1>均值滤波】====================//
blur_c_out = cvBGRImage.clone();
namedWindow("<1>均值滤波【效果图-彩色】");
createTrackbar("内核值：", "<1>均值滤波【效果图-彩色】",&g_nMeanBlurValue, 50,on_MeanBlur_c );
on_MeanBlur_c(g_nMeanBlurValue,0);
//======================================================//
//====================【<2>高斯滤波】====================//
GaussianBlur_c_out = cvBGRImage.clone();
namedWindow("<2>高斯滤波【效果图-彩色】");
createTrackbar("内核值：", "<2>高斯滤波【效果图-彩色】",&g_nGaussianBlurValue, 50,on_GaussianBlur_c );
on_GaussianBlur_c(g_nGaussianBlurValue,0);
//======================================================//
//====================【<3>中值滤波】====================//
MedianBlur_c_out = cvBGRImage.clone();
namedWindow("<3>中值滤波【效果图-彩色】");
createTrackbar("参数值：", "<3>中值滤波【效果图-彩色】",&g_nMedianBlurValue, 50,on_MedianBlur_c );
on_MedianBlur_c(g_nMedianBlurValue,0);
//======================================================//
//====================【<4>双边滤波】====================//
bilateralFilter_c_out = cvBGRImage.clone();
namedWindow("<4>双边滤波【效果图-彩色】");
createTrackbar("参数值：", "<4>双边滤波【效果图-彩色】",&g_nBilateralFilterValue, 50,on_BilateralFilter_c);
on_BilateralFilter_c(g_nBilateralFilterValue,0);
//======================================================//
//---------------------------------------------------------------------------------------------------------//
//-------------------------------------------【【【深度图像处理部分】】】--------------------------------------------//
//====================【<0>原图-深度】====================//
mDepthGenerator.GetMetaData(depthMD);
Mat cvDepthImage16UC1(depthMD.FullYRes(), depthMD.FullXRes(), CV_16UC1, (XnUInt16*) depthMD.Data());
cvDepthImage16UC1.convertTo(cvDepthImage8UC1, CV_8UC1, 255.0/(depthMD.ZRes())); //格式转换
namedWindow("<0>【原图-深度】");
imshow("<0>【原图-深度】", cvDepthImage8UC1);
//======================================================//
//====================【<1>均值滤波】====================//
blur_g_out = cvDepthImage8UC1.clone();
namedWindow("<1>均值滤波【效果图-深度】");
createTrackbar("内核值：", "<1>均值滤波【效果图-深度】",&g_nMeanBlurValue, 50,on_MeanBlur_g );
on_MeanBlur_g(g_nMeanBlurValue,0);
//======================================================//
//====================【<2>高斯滤波】====================//
GaussianBlur_g_out = cvDepthImage8UC1.clone();
namedWindow("<2>高斯滤波【效果图-深度】");
createTrackbar("内核值：", "<2>高斯滤波【效果图-深度】",&g_nGaussianBlurValue, 50,on_GaussianBlur_g );
on_GaussianBlur_g(g_nGaussianBlurValue,0);
//======================================================//
//====================【<3>中值滤波】====================//
MedianBlur_g_out = cvDepthImage8UC1.clone();
namedWindow("<3>中值滤波【效果图-深度】");
createTrackbar("参数值：", "<3>中值滤波【效果图-深度】",&g_nMedianBlurValue, 50,on_MedianBlur_g );
on_MedianBlur_g(g_nMedianBlurValue,0);
//======================================================//
//====================【<4>双边滤波】====================//
bilateralFilter_g_out = cvDepthImage8UC1.clone();
namedWindow("<4>双边滤波【效果图-深度】");
createTrackbar("参数值：", "<4>双边滤波【效果图-深度】",&g_nBilateralFilterValue, 50,on_BilateralFilter_g);
on_BilateralFilter_g(g_nBilateralFilterValue,0);
//======================================================//
//----------------------------------------------------------------------------------------------------------//
key = waitKey(20);
}
mContext.StopGeneratingAll(); //停止产生数据
mContext.Shutdown();
return 0;
}
//-----------------------------【on_MeanBlur( )函数】------------------------------------
// 均值滤波操作的回调函数
//----------------------------------------------------------------------------------------------
static void on_MeanBlur_c(int, void *)
{
blur( cvBGRImage, blur_c_out, Size( g_nMeanBlurValue+1, g_nMeanBlurValue+1), Point(-1,-1));
imshow("<1>均值滤波【效果图-彩色】", blur_c_out);
}
static void on_MeanBlur_g(int, void *)
{
blur( cvDepthImage8UC1, blur_g_out, Size( g_nMeanBlurValue+1, g_nMeanBlurValue+1), Point(-1,-1));
imshow("<1>均值滤波【效果图-深度】", blur_g_out);
}
//-----------------------------【on_GaussianBlur( )函数】------------------------------------
// 高斯滤波操作的回调函数
//-----------------------------------------------------------------------------------------------
static void on_GaussianBlur_c(int, void *)
{
GaussianBlur( cvBGRImage, GaussianBlur_c_out, Size( g_nGaussianBlurValue*2+1, g_nGaussianBlurValue*2+1 ), 0, 0);
imshow("<2>高斯滤波【效果图-彩色】", GaussianBlur_c_out);
}
static void on_GaussianBlur_g(int, void *)
{
GaussianBlur( cvDepthImage8UC1, GaussianBlur_g_out, Size( g_nGaussianBlurValue*2+1, g_nGaussianBlurValue*2+1 ), 0, 0);
imshow("<2>高斯滤波【效果图-深度】", GaussianBlur_g_out);
}
//-----------------------------【on_MedianBlur( )函数】------------------------------------
// 中值滤波操作的回调函数
//-----------------------------------------------------------------------------------------------
static void on_MedianBlur_c(int, void *)
{
medianBlur ( cvBGRImage, MedianBlur_c_out, g_nMedianBlurValue*2+1 );
imshow("<3>中值滤波【效果图-彩色】", MedianBlur_c_out);
}
static void on_MedianBlur_g(int, void *)
{
medianBlur ( cvDepthImage8UC1, MedianBlur_g_out, g_nMedianBlurValue*2+1 );
imshow("<3>中值滤波【效果图-深度】", MedianBlur_g_out);
}
//-----------------------------【on_BilateralFilter( )函数】------------------------------------
// 双边滤波操作的回调函数
//-----------------------------------------------------------------------------------------------
static void on_BilateralFilter_c(int, void *)
{
bilateralFilter ( cvBGRImage, bilateralFilter_c_out, g_nBilateralFilterValue, g_nBilateralFilterValue*2, g_nBilateralFilterValue/2 );
imshow("<4>双边滤波【效果图-彩色】", bilateralFilter_c_out);
}
static void on_BilateralFilter_g(int, void *)
{
bilateralFilter ( cvDepthImage8UC1, bilateralFilter_g_out, g_nBilateralFilterValue, g_nBilateralFilterValue*2, g_nBilateralFilterValue/2 );
imshow("<4>双边滤波【效果图-深度】", bilateralFilter_g_out);
}
//-----------------------------------【ShowHelpText( )函数】-----------------------------
// 输出一些帮助信息
//----------------------------------------------------------------------------------------------
void ShowHelpText()
{
//输出各滤波器的初始内核值
printf("\n\n\t\t\t均值滤波器的初始内核值：10\n");
printf("\n\n\t\t\t高斯滤波器的初始内核值：6\n");
printf("\n\n\t\t\t中值滤波器的初始参数值：10\n");
printf("\n\n\t\t\t双边滤波器的初始参数值：10\n");
printf("\n\n ----------------------------------------------------------------------------\n");
}