OpenCV处理kinect深度图，获取手掌骨架图像

从Cnkinect学习了很多kinect入门知识， 这几天 对Kincect 采集到的深度图数据(g_DepthGenerator.GetMetaData(m_DepthMD)采集到的数据存成raw.dat )利用openCV2.2 处理，得到手掌骨架图像。效果如下

2011-6-4 22:15 上传

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#include"stdafx.h"

#include<iostream>

#include<fstream>

#include"opencv/cv.h"

#include"opencv/highgui.h"

using namespace cv

std::ifstreaminput("sample.dat", ios::binary);

 

//for opencv Mat

Mat
m_srcdepth16u( 480,640,CV_16UC1);

Mat
m_depth16u( 480,640,CV_16UC1);

Mat
m_middepth8u( 480,640,CV_8UC1);

Mat
m_depth8u( 480,640,CV_8UC1);

 

Mat
m_rgb8u( 480,640,CV_8UC3);

Mat
m_DepthShow( 480,640,CV_8UC1);

Mat
m_srcDepthShow( 480,640,CV_8UC1);

int_tmain(int argc, _TCHAR* argv[])

{

int sizebuffer = 640*480*2;

char * buffer = (char *)malloc(sizebuffer);

input.read(buffer, sizebuffer);

memcpy(m_srcdepth16u.data,buffer,sizebuffer);

// 首先处理深度为 0 的点，这种实际上无法测量的点，
所以将深度为 0 的点设成最大深度

for( int i = 0; i < 480; i++)

for (int j = 0; j<640; j++) {

unsigned short & temp = m_srcdepth16u.at<unsignedshort>(i,j);

if(temp == 0) {

temp = 65535;

 

}

 

}

// 高斯滤波平滑

Ptr<FilterEngine> f = createGaussianFilter(m_srcdepth16u.type(), Size(9,9), 0.85, 0.85 );

f->apply(
m_srcdepth16u, m_depth16u);

 

// 深度图像二值化，
阈值大概是取手掌的厚度， minValue存储的事距离kinect最近的指尖深度

double minValue, maxValue;

minMaxIdx(m_depth16u, &minValue, &maxValue);

 

for( int i = 0; i < 480; i++)

for (int j = 0; j<640; j++) {

if(m_depth16u.at<unsigned short>(i,j) > minValue +50)

m_middepth8u.at<unsigned char>(i,j) =0;

else

m_middepth8u.at<unsigned char>(i,j) = 255;

 

}

m_middepth8u.copyTo(m_depth8u);

 

// 取得手掌轮廓

vector<vector<Point>> contours;

 

findContours(m_middepth8u, contours,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_SIMPLE, Point(0,0));

Scalar color( 255, 0, 0 );

drawContours(m_depth8u, contours, -1, color);

 

vector<Point> contourMerge;

vector<vector<Point>>::iterator it;

 

// 将轮廓数据合并到一个数组中 , 并获得包含此轮廓的最小矩形

for (it=contours.begin(); it!=contours.end(); it++)

{

   vector<Point> &currentContour = *it;

   vector<Point>::iterator itContour;

   for (itContour=currentContour.begin();itContour!=currentContour.end(); itContour++)

   {

     contourMerge.push_back(*itContour);

   }

}

 

RotatedRect minRect = minAreaRect(Mat(contourMerge));

 

Point2f pt[4];

minRect.points(pt);

line(m_depth8u, pt[0], pt[1], color);

line(m_depth8u, pt[1], pt[2], color);

line(m_depth8u, pt[2], pt[3], color);

line(m_depth8u, pt[3], pt[0], color);

 

// 将上述最小矩形取出，
并旋转到正方向，
横平竖直

Mat rotate8u = Mat(minRect.boundingRect().size(),CV_8UC1);

Mat after_rotate8u =Mat(minRect.boundingRect().size(),CV_8UC1);

getRectSubPix( m_depth8u, minRect.boundingRect().size(),minRect.center, rotate8u);

 

Point2f rotateCenter =Point2f(minRect.boundingRect().size().width/2.0,minRect.boundingRect().size().height/2.0);

Mat rotateM = getRotationMatrix2D(rotateCenter,
90+minRect.angle, 1
);

warpAffine(rotate8u,
after_rotate8u, rotateM, minRect.boundingRect().size()
);

 

Mat scale8u = Mat( Size(30, minRect.size.width),CV_8UC1);

getRectSubPix(after_rotate8u, Size(minRect.size.height,minRect.size.width), rotateCenter, scale8u);

 

rotate8u.convertTo(m_DepthShow,CV_8U);

//m_depth8u.convertTo(m_DepthShow,CV_8U);

cvNamedWindow("beforerotate");

imshow("beforerotate",
m_DepthShow);

 

// scale8u.convertTo(m_DepthShow,CV_8U);

//m_depth8u.convertTo(m_DepthShow,CV_8U);

cvNamedWindow("depth");

 

// 距离变换，获取骨架

Mat
m_outdepth32u(scale8u.rows,scale8u.cols,CV_32FC1);

distanceTransform(scale8u, m_outdepth32u, CV_DIST_L2,CV_DIST_MASK_5);

 

// 显示距离变换得到结果

int i = 0, j = 0;

float maxDist = 0.0;

for( i = 0; i < scale8u.rows; i++)

for (j = 0; j<scale8u.cols; j++) {

if(maxDist < m_outdepth32u.at<float>(i,j))

maxDist = m_outdepth32u.at<float>(i,j);

}

 

m_outdepth32u.convertTo(m_DepthShow,CV_8U, 255/maxDist);

 

imshow("depth",
m_DepthShow);

 

cvWaitKey(-1);

return 0;

}