opencv学习笔记—opencv+openni2 深度图像与彩色图像的读取与显示

”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）