安装

• KinectSDK-v1.8-Setup.exe
• OpenNI-Windows-x86-2.1.0.msi

Qt工程

拷贝 Redist 下内容到 编译的exe所在目录

#include <stdlib.h>
#include <iostream>
#include <conio.h>
#include <string>
#include "OpenNI.h"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"#define RESOLUTION 640,480
#define RECORDRESOLUTION 590,440
#define ADRESOLUTION 45,40,590,440
#define FPS 20
#define GRAYTH 10
#define REPAIRERANGE 5
#define COLORTH 10using namespace std;
using namespace cv;
using namespace openni;//Openni status
Status result = STATUS_OK;
//open device
Device device;
//OpenNI2 image
VideoFrameRef oniDepthImg;
VideoFrameRef oniColorImg;
//create stream
VideoStream oniDepthStream;
VideoStream oniColorStream;
//set video mode
VideoMode modeDepth;
VideoMode modeColor;
//OpenCV image
cv::Mat cvDepthImg;
cv::Mat cvDepthImg2;
cv::Mat cvColorImg;
cv::Mat cvColorImg2;
//OpenCV adjusted image
cv::Mat cvAdjustDepthImg;
cv::Mat cvAdjustColorImg;
//Resolution
Size se=Size(RESOLUTION);
Size recordse=Size(RECORDRESOLUTION);void CheckOpenNIError( Status result, string status )
{if( result != STATUS_OK )cerr << status << " Error: " << OpenNI::getExtendedError() << endl;
}
void iniOpenNI(void );
void releaseResource(void );
void RemoveNoiseRecord(void );
void RemoveNoise(void );
bool pixelRepaire(int ,int ,int );
bool rangeRepaire(int ,int ,int );int main( int argc, char** argv )
{iniOpenNI();RemoveNoiseRecord();releaseResource();return 0;
}void iniOpenNI()
{// initialize OpenNI2result = OpenNI::initialize();CheckOpenNIError( result, "initialize context" );//open video deviceresult = device.open( openni::ANY_DEVICE );CheckOpenNIError( result, "initialize context" );//creat depth streamresult = oniDepthStream.create( device, openni::SENSOR_DEPTH );CheckOpenNIError( result, "initialize context" );//set depth modemodeDepth.setResolution( RESOLUTION );modeDepth.setFps( FPS );modeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_1_MM );oniDepthStream.setVideoMode(modeDepth);// start depth streamresult = oniDepthStream.start();CheckOpenNIError( result, "initialize context" );// create color streamresult = oniColorStream.create( device, openni::SENSOR_COLOR );CheckOpenNIError( result, "initialize context" );// set color video modemodeColor.setResolution( RESOLUTION );modeColor.setFps( FPS );modeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );oniColorStream.setVideoMode( modeColor);// start color streamresult = oniColorStream.start();CheckOpenNIError( result, "initialize context" );// set depth and color imge registration modeif( device.isImageRegistrationModeSupported(IMAGE_REGISTRATION_DEPTH_TO_COLOR ) ){cout << "support" << endl;device.setImageRegistrationMode( IMAGE_REGISTRATION_DEPTH_TO_COLOR );}}void releaseResource()
{//OpenNI2 destroyoniDepthStream.destroy();oniColorStream.destroy();device.close();OpenNI::shutdown();
}void RemoveNoiseRecord()
{std::cout<<"\t\t\t------RemoveNoiseRecord-------"<<std::endl;char *DepthFilename = "oringindepthvideo.avi";char *ColorFilename = "oringincolorvideo.avi";char *removeDepthFilename = "removedepthvideo.avi";char *removeColorFilename = "removecolorvideo.avi";VideoWriter removecolorVideoWriter=VideoWriter(removeColorFilename,CV_FOURCC('X','V','I','D'),FPS,recordse);VideoWriter removedepthVideoWriter=VideoWriter(removeDepthFilename,CV_FOURCC('X','V','I','D'),FPS,recordse);VideoWriter colorVideoWriter=VideoWriter(ColorFilename,CV_FOURCC('X','V','I','D'),FPS,recordse);VideoWriter depthVideoWriter=VideoWriter(DepthFilename,CV_FOURCC('X','V','I','D'),FPS,recordse);//    VideoWriter colorVideoWriter=VideoWriter(ColorFilename,CV_FOURCC('X','V','I','D'),FPS,se);//    VideoWriter depthVideoWriter=VideoWriter(DepthFilename,CV_FOURCC('X','V','I','D'),FPS,se);namedWindow("after-gray",1);namedWindow("after-depth",1);namedWindow("befor-color",1);namedWindow("befor-depth",1);while(true){if( oniColorStream.readFrame( &oniColorImg ) == STATUS_OK ){// convert data into OpenCV typecv::Mat cvRGBImg( oniColorImg.getHeight(), oniColorImg.getWidth(), CV_8UC3, (void*)oniColorImg.getData() );cv::cvtColor( cvRGBImg, cvColorImg2, CV_RGB2BGR );cvColorImg2=Mat(cvColorImg2,Rect(ADRESOLUTION));colorVideoWriter.write(cvColorImg2);cv::imshow("befor-color", cvColorImg2 );cvtColor(cvRGBImg,cvColorImg,CV_RGB2GRAY);//colorVideoWriter.write(cvColorImg);}if( oniDepthStream.readFrame( &oniDepthImg ) == STATUS_OK ){cv::Mat cvRawImg16U( oniDepthImg.getHeight(), oniDepthImg.getWidth(), CV_16UC1, (void*)oniDepthImg.getData() );cvRawImg16U.convertTo( cvDepthImg, CV_8UC1, 255.0/(oniDepthStream.getMaxPixelValue()));cv::cvtColor(cvDepthImg,cvDepthImg2,CV_GRAY2BGR);cvDepthImg2=Mat(cvDepthImg2,Rect(ADRESOLUTION));depthVideoWriter.write(cvDepthImg2);cv::imshow( "befor-depth", cvDepthImg2 );}cvAdjustDepthImg=Mat(cvDepthImg,Rect(ADRESOLUTION));cvAdjustColorImg=Mat(cvColorImg,Rect(ADRESOLUTION));RemoveNoise();cvtColor(cvAdjustColorImg,cvAdjustColorImg,CV_GRAY2BGR);cvtColor(cvAdjustDepthImg,cvAdjustDepthImg,CV_GRAY2BGR);removecolorVideoWriter.write(cvAdjustColorImg);removedepthVideoWriter.write(cvAdjustDepthImg);std::cout<<"removecolorVideoWriter"<<std::endl;std::cout<<"\tremovedepthVideoWriter"<<std::endl;imshow("after-gray",cvAdjustColorImg);imshow("after-depth",cvAdjustDepthImg);int key;key=waitKey(10);if(key==27){break;}}removecolorVideoWriter.release ();removedepthVideoWriter.release ();colorVideoWriter.release ();depthVideoWriter.release ();destroyWindow("after-gray");destroyWindow("after-depth");destroyWindow("befor-color");destroyWindow("befor-depth");
}void RemoveNoise()
{clock_t start,finish;double totaltime=0.0;start=clock();for(int j=(cvAdjustDepthImg.rows-1);j>=0;j--)//depthImage.rows{const uchar* mj=cvAdjustDepthImg.ptr<uchar>(j);for(int i=(cvAdjustDepthImg.cols-1);i>=0;i--)//depthImage.cols{if(mj[i]<=GRAYTH){uchar colorpixel=cvAdjustColorImg.at<uchar>(j,i);bool reResult=false;if(colorpixel<GRAYTH*5){for(int k=1;k<REPAIRERANGE*3;k++){reResult=pixelRepaire(i,j,k);if(reResult)break;}//go downif(!reResult){for(int k=1;k<=30;k++){if((j+k)<440){if(cvAdjustDepthImg.at<uchar>(j+k,i)>GRAYTH){cvAdjustDepthImg.at<uchar>(j,i)=cvAdjustDepthImg.at<uchar>(j+k,i);reResult=true;break;}}else{break;}}}//go upif(!reResult){for(int k=1;k<=30;k++){if((j-k)>=0){if(cvAdjustDepthImg.at<uchar>(j-k,i)>GRAYTH){cvAdjustDepthImg.at<uchar>(j,i)=cvAdjustDepthImg.at<uchar>(j-k,i);reResult=true;break;}}else{break;}}}}else{for(int k=1;k<30;k++){if((i+k)<590 && !reResult){if(abs(cvAdjustColorImg.at<uchar>(j,i+k)-colorpixel)<=COLORTH && cvAdjustDepthImg.at<uchar>(j,i+k)>GRAYTH){cvAdjustDepthImg.at<uchar>(j,i)=cvAdjustDepthImg.at<uchar>(j,i+k);reResult=true;}}else{break;}}}if(!reResult){for(int k=1;k<REPAIRERANGE;k++){reResult=pixelRepaire(i,j,k);if(reResult)break;}}if(!reResult){for(int k=0;k<REPAIRERANGE*3;k++){reResult=rangeRepaire(i,j,k);if(reResult)break;}}}}}finish=clock();totaltime=(double)(finish-start)/CLOCKS_PER_SEC;
}bool pixelRepaire(int i,int j,int repaireRange)
{uchar colorpixel=cvAdjustColorImg.at<uchar>(j,i);int x=0;int y=0;int n=0;int sum=0;for(y=j-repaireRange;y<=j+repaireRange;y++){if(y>=0 && y<440){if(y==(j-repaireRange) ||  y==(j+repaireRange)){for(x=i-repaireRange;x<=i+repaireRange;x++){if(x>=0 && x<590){if(abs(cvAdjustColorImg.at<uchar>(y,x)-colorpixel)<=COLORTH && cvAdjustDepthImg.at<uchar>(y,x)>GRAYTH){n++;sum=sum+cvAdjustDepthImg.at<uchar>(y,x);}}}}else{x=i-repaireRange;if(x>=0 && x<590){if(abs(cvAdjustColorImg.at<uchar>(y,x)-colorpixel)<=COLORTH && cvAdjustDepthImg.at<uchar>(y,x)>GRAYTH){n++;sum=sum+cvAdjustDepthImg.at<uchar>(y,x);}}x=i+repaireRange;if(x>=0 && x<590){if(abs(cvAdjustColorImg.at<uchar>(y,x)-colorpixel)<=COLORTH && cvAdjustDepthImg.at<uchar>(y,x)>GRAYTH){n++;sum=sum+cvAdjustDepthImg.at<uchar>(y,x);}}}}}if(n<repaireRange*2){return false;}else{cvAdjustDepthImg.at<uchar>(j,i)=(uchar)(sum/n);return true;}}bool rangeRepaire(int i,int j,int repaireRange)
{uchar colorpixel=cvAdjustColorImg.at<uchar>(j,i);int x=0;int y=0;int n=0;int sum=0;for(y=j-repaireRange;y<=j+repaireRange;y++){if(y>=0 && y<440){for(x=i-repaireRange;x<=i+repaireRange;x++){if(x>=0 && x<590){if(cvAdjustDepthImg.at<uchar>(y,x)>GRAYTH){n++;sum=sum+cvAdjustDepthImg.at<uchar>(y,x);}}}}}if(n<=repaireRange*2){return false;}else{cvAdjustDepthImg.at<uchar>(j,i)=(uchar)(sum/n);return true;}
}

source code

http://git.oschina.net/yuliyang/kinectRecorder