c++opencv根据深度值生成2d图,将深度值可视化显示
深度信息从本地.txt文件读取为例,话不多说上代码:
fstream fs;
fs.open("../depth_10.txt", ios::in);
if (!fs.is_open())
{
cout << "文件打开失败!" << endl;
return 0;
}
vector<int> gray_data;
Mat grayImg(640,480,CV_8UC1,Scalar(0)); //相当于定义640*480画布,颜色值为0
//读text;dzy:深度信息按照图像的row行,col列取值
for (int i = 0; i < 480; i++)
{
for (int j = 0; j < 640; j++)
{
string tmp_string;
fs >> tmp_string; //fs 将停在空格或换行
int dint = atoi(tmp_string.c_str()); //string转为int
gray_data.push_back(dint);
}
}
fs.close();
//获取vector中最大索引
int max_z_index = max_element(gray_data.begin(), gray_data.end()) - gray_data.begin();
//获取深度值信息中最大值
int &max_z_value = gray_data[max_z_index];
for (int i = 0; i < 480; i++)
{
for (int j = 0; j < 640; j++)
{
int &i1_value = gray_data[i * col_max + j];
float t_value = ((float)i1_value/(float)max_z_value)*255;
grayImg.ptr<uchar>(i)[j]=t_value ;
}
}
imshow("grayImg", grayImg);