java openni rgb显示_opencv学习笔记—opencv+openni2 深度图像与彩色图像的读取与显示 | 学步园...

”站在巨人的肩膀上“参考针对openni 1.0系列的读取，并且利用openni2中自带的历程，多通道数据的读取，得到彩色图像与深度图像，然后利用opencv的mat进行了显示：

#include "iostream"

#include "OpenNI.h"

#include "opencv\cv.h"

#include "opencv\highgui.h"

using namespace std;

using namespace openni;

using namespace cv;

int main(int argc, char** argv)

{

//opencv

//Mat imgDepth(640, 480, IPL_DEPTH_16U, 1);

char key=0;

//1.initialize OpenNI

Status rc = OpenNI::initialize();

if(rc != STATUS_OK)

{

cout << "Initialize failed" << OpenNI::getExtendedError();

cin.get();

cin.get();

return -1;

}

//2.open a device

Device device;

rc = device.open(ANY_DEVICE);

VideoStream depth, image;

if(device.getSensorInfo(SENSOR_DEPTH) != NULL)

{

rc = depth.create(device, SENSOR_DEPTH);

if(rc == STATUS_OK)

{

rc= depth.start();

if(rc != STATUS_OK)

{

cout << "couldn't create depth stream" << OpenNI::getExtendedError();

cin.get();

cin.get();

return -1;

}

}

}

if( device.getSensorInfo(SENSOR_COLOR) != NULL )

{

rc = image.create(device, SENSOR_COLOR);

if(rc == STATUS_OK)

{

rc = image.start();

}

}

VideoStream* streams[] = {&depth, &image};

//videoStream.setVideoMode(videoMode);

VideoFrameRef frame;

if(device.hasSensor(SENSOR_COLOR) && device.hasSensor(SENSOR_DEPTH))

cout << "the color is OK";

while (key != 27)

{

int readyStream = -1;

//for the readFrame, you should waitForAnyStream to get the new frame;

rc = OpenNI::waitForAnyStream(streams, 2, &readyStream);

switch (readyStream)

{

case 0:

//depth

depth.readFrame(&frame);

break;

case 1:

//color

image.readFrame(&frame);

break;

default:

cout << "unexpected stream" << endl;

}

switch(frame.getVideoMode().getPixelFormat())

{

case PIXEL_FORMAT_DEPTH_1_MM:

case PIXEL_FORMAT_DEPTH_100_UM:

{

DepthPixel *pDepth = (DepthPixel*)frame.getData();

Mat imgDEP(frame.getHeight(), frame.getWidth(), CV_16UC1, (void*)frame.getData());

//cout << depth.getMaxPixelValue() << endl;

imgDEP.convertTo( imgDEP, CV_8U, 255.0 / 4096.0);

namedWindow("depth", 1);

imshow("depth", imgDEP);

break;

}

case PIXEL_FORMAT_RGB888:

{

Mat imgRGB(frame.getHeight(), frame.getWidth(), CV_8UC3, (void*)frame.getData()); //const 使用

cvtColor(imgRGB, imgRGB,CV_BGR2RGB );

namedWindow("test", 1);

imshow("test", imgRGB);

break;

}

default:

cout << "unknown format" << endl;

}

key = cvWaitKey(20);

}

image.stop();

image.destroy();

depth.stop();

depth.destroy();

device.close();

OpenNI::shutdown();

cin.get();

cin.get();

return 0;

}

其中要说明两点：

第一点：深度图像的位数是16位的，需要进行转换，其中除以了4096.0，转换为8位的。

参考：

用 OpenCV 畫出 OpenNI 2 的深度、彩色影像

http://viml.nchc.org.tw/blog/paper_info.php?CLASS_ID=1&SUB_ID=1&PAPER_ID=431

Kinect开发教程二：OpenNI读取深度图像与彩色图像并显示http://blog.csdn.net/chenxin_130/article/details/6696187

http://www.pcw8510.com/?p=4009

http://oulehui.blog.163.com/blog/static/7961469820117535714180/(深度图bit解析)

第二点：就是，自己读取的深度图像，总是有边缘效应，需要进行处理。(人旁边的阴影)