OpenNI2获取华硕XtionProLive深度图和彩色图并用OpenCV显示

#include <opencv2/core/core.hpp> #include <opencv2/imgproc/imgproc.hpp> #include <opencv2/highgui/highgui.hpp> #include <opencv2/opencv.hpp> #include <iostream> #include "OpenNI.h" using namespace openni; using namespace cv; using namespace std; int main() { Status rc = STATUS_OK; // OpenNI函数执行结果 //OpenNI2图 VideoFrameRef oniDepthImg, oniColorImg; //OpenCV图 Mat cvDepthImg, cvBGRImg, cvFusionImg; //初始化OpenNI2 rc = OpenNI::initialize(); //打开Kinect或Xtion设备 Device device; const char * deviceURL = openni::ANY_DEVICE; //设备名 rc = device.open(deviceURL); //创建并打开深度数据流 VideoStream oniDepthStream; //深度数据流 rc = oniDepthStream.create(device, SENSOR_DEPTH); //创建深度数据流 if( STATUS_OK == rc ) { //设置深度视频模式 VideoMode modeDepth; modeDepth.setResolution(320,240/*640,480*/); //分辨率 modeDepth.setFps(30); //帧率 modeDepth.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM); //深度像素格式 oniDepthStream.setVideoMode(modeDepth); oniDepthStream.start(); // 打开深度数据流 if(STATUS_OK != rc) { cerr << "无法打开深度数据流："<<OpenNI::getExtendedError()<<endl; oniDepthStream.destroy(); } } else { cerr << "无法创建深度数据流："<<OpenNI::getExtendedError()<<endl; } //创建并打开彩色数据流 VideoStream oniColorStream; //RGB数据流 rc = oniColorStream.create(device, SENSOR_COLOR); if(STATUS_OK == rc) { //设置彩色视频模式 VideoMode modeColor; //不知道为什么，彩色图的分辨率无论如何设置始终都是320*240 modeColor.setResolution(320,240/*1280,1040*/);//分辨率 modeColor.setFps(30);//帧率 modeColor.setPixelFormat(PIXEL_FORMAT_RGB888); //设置深度图和彩色图的配准模式 if(device.isImageRegistrationModeSupported(IMAGE_REGISTRATION_DEPTH_TO_COLOR)) { device.setImageRegistrationMode(IMAGE_REGISTRATION_DEPTH_TO_COLOR); //深度到彩色图配准 } rc = oniColorStream.start(); //打开彩色数据流 if( STATUS_OK != rc ) { cerr<< "无法打开彩色数据流："<<OpenNI::getExtendedError()<<endl; oniColorStream.destroy(); } } else { cerr << "无法创建彩色数据流："<<OpenNI::getExtendedError()<<endl; } if (!oniDepthStream.isValid() || !oniColorStream.isValid()) { cerr << "彩色或深度数据流不合法"<<endl; OpenNI::shutdown(); return 1; } namedWindow("depth"); namedWindow("RGB"); namedWindow("fusion"); while(true) { //读取一帧深度图 if( STATUS_OK == oniDepthStream.readFrame(&oniDepthImg) ) { Mat cvRawImg16U(oniDepthImg.getHeight(), oniDepthImg.getWidth(), CV_16UC1, (void*)oniDepthImg.getData()); cvRawImg16U.convertTo(cvDepthImg, CV_8U, 255.0/(oniDepthStream.getMaxPixelValue())); flip(cvDepthImg,cvDepthImg,1);//水平翻转 imshow("depth", cvDepthImg); } //读取一帧彩色图 if( STATUS_OK == oniColorStream.readFrame(&oniColorImg) ) { Mat cvRGBImg(oniColorImg.getHeight(), oniColorImg.getWidth(), CV_8UC3, (void*)oniColorImg.getData()); cvtColor(cvRGBImg, cvBGRImg, CV_RGB2BGR); flip(cvBGRImg,cvBGRImg,1);//水平翻转 imshow("RGB", cvBGRImg); } //融合图 cvtColor(cvDepthImg,cvFusionImg,CV_GRAY2BGR); addWeighted(cvBGRImg, 0.5, cvFusionImg, 0.5, 0, cvFusionImg); flip(cvFusionImg,cvFusionImg,1);//水平翻转 imshow("fusion", cvFusionImg); waitKey(30);//没有waitKey不显示图像 } destroyWindow("depth"); destroyWindow("RGB"); destroyWindow("fusion"); oniDepthStream.destroy(); oniColorStream.destroy(); device.close(); OpenNI::shutdown(); return 0; }