OpenNI2显示深度、彩色及融合图像

环境：OpenNI2(http://structure.io/openni); OpenCV2.4.6; VS2010

win32工程。

一、在该工程下，openCV环境配置可参考：http://wiki.opencv.org.cn/index.php/VC_2010%E4%B8%8B%E5%AE%89%E8%A3%85OpenCV2.4.4

二、OpenNI（安装默认路径）配置：

1、首先拷贝\OpenNI2\Redist目录下的所有文件到VS的工作目录

2、包含 相应的头文件跟库文件

一个经验证可以用的基于OpenNI2程序（致以谢意）

摘自：http://blog.csdn.net/chenxin_130/article/details/8619909

/*************************
OpenNI2 Deep, Color and Fusion Image
Author: Xin Chen, 2013.2
Blog: http://blog.csdn.net/chenxin_130
*************************/


#include <stdlib.h>
#include <iostream>
#include <string>
#include "OpenNI.h"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
using namespace std;
using namespace cv;
using namespace openni;


void CheckOpenNIError( Status result, string status )
{ 
if( result != STATUS_OK ) 
cerr << status << " Error: " << OpenNI::getExtendedError() << endl;
}


int main( int argc, char** argv )
{
Status result = STATUS_OK;  
    
//OpenNI2 image
VideoFrameRef oniDepthImg;
    VideoFrameRef oniColorImg;


//OpenCV image
cv::Mat cvDepthImg;
cv::Mat cvBGRImg;
cv::Mat cvFusionImg;

cv::namedWindow("depth");
cv::namedWindow("image");
cv::namedWindow("fusion");
char key=0;


//【1】
// initialize OpenNI2
    result = OpenNI::initialize();
CheckOpenNIError( result, "initialize context" );  


// open device  
Device device;
    result = device.open( openni::ANY_DEVICE );


//【2】
// create depth stream 
    VideoStream oniDepthStream;
    result = oniDepthStream.create( device, openni::SENSOR_DEPTH );


//【3】
// set depth video mode
    VideoMode modeDepth;
    modeDepth.setResolution( 640, 480 );
    modeDepth.setFps( 30 );
    modeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_1_MM );
    oniDepthStream.setVideoMode(modeDepth);
// start depth stream
    result = oniDepthStream.start();
 
// create color stream
    VideoStream oniColorStream;
    result = oniColorStream.create( device, openni::SENSOR_COLOR );
// set color video mode
VideoMode modeColor;
    modeColor.setResolution( 640, 480 );
    modeColor.setFps( 30 );
    modeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );
    oniColorStream.setVideoMode( modeColor);

//【4】
// set depth and color imge registration mode
if( device.isImageRegistrationModeSupported(IMAGE_REGISTRATION_DEPTH_TO_COLOR ) )
{
device.setImageRegistrationMode( IMAGE_REGISTRATION_DEPTH_TO_COLOR );
}
// start color stream
    result = oniColorStream.start();  


while( key!=27 ) 
{  
// read frame
if( oniColorStream.readFrame( &oniColorImg ) == STATUS_OK )
{
// convert data into OpenCV type
cv::Mat cvRGBImg( oniColorImg.getHeight(), oniColorImg.getWidth(), CV_8UC3, (void*)oniColorImg.getData() );
cv::cvtColor( cvRGBImg, cvBGRImg, CV_RGB2BGR );
cv::imshow( "image", cvBGRImg );
}
  
if( oniDepthStream.readFrame( &oniDepthImg ) == STATUS_OK )
{
cv::Mat cvRawImg16U( oniDepthImg.getHeight(), oniDepthImg.getWidth(), CV_16UC1, (void*)oniDepthImg.getData() );
cvRawImg16U.convertTo( cvDepthImg, CV_8U, 255.0/(oniDepthStream.getMaxPixelValue()));
//【5】
// convert depth image GRAY to BGR
cv::cvtColor(cvDepthImg,cvFusionImg,CV_GRAY2BGR);
cv::imshow( "depth", cvDepthImg );
}
//【6】
cv::addWeighted(cvBGRImg,0.5,cvFusionImg,0.5,0,cvFusionImg);
cv::imshow( "fusion", cvFusionImg );
key = cv::waitKey(20);
}


//cv destroy
cv::destroyWindow("depth");
cv::destroyWindow("image");
cv::destroyWindow("fusion");


    //OpenNI2 destroy
    oniDepthStream.destroy();
    oniColorStream.destroy();
    device.close();
    OpenNI::shutdown();


return 0;
}