OpenNI：深度图显示方法

OpenNI的深度图显示有主要有两种方法：

1.深度值直接赋值方法（同上一篇）：

缺点：深度图层次不明显，主要由于位移操作导致

#include <stdlib.h>
#include <iostream>
#include <string>#include <XnCppWrapper.h>
#include "opencv/cv.h"
#include "opencv/highgui.h"using namespace std;
using namespace cv;void CheckOpenNIError( XnStatus result, string status )
{ if( result != XN_STATUS_OK ) cerr << status << " Error: " << xnGetStatusString( result ) << endl;
}int main( int argc, char** argv )
{XnStatus result = XN_STATUS_OK;  xn::DepthMetaData depthMD;xn::ImageMetaData imageMD;//OpenCVIplImage*  imgDepth16u=cvCreateImage(cvSize(640,480),IPL_DEPTH_16U,1);IplImage* imgRGB8u=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);IplImage*  depthShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);IplImage* imageShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);cvNamedWindow("depth",1);cvNamedWindow("image",1);char key=0;//【2】// context xn::Context context; result = context.Init(); CheckOpenNIError( result, "initialize context" );  // creategenerator  xn::DepthGenerator depthGenerator;  result = depthGenerator.Create( context ); CheckOpenNIError( result, "Create depth generator" );  xn::ImageGenerator imageGenerator;result = imageGenerator.Create( context ); CheckOpenNIError( result, "Create image generator" );//【3】//map mode  XnMapOutputMode mapMode; mapMode.nXRes = 640;  mapMode.nYRes = 480; mapMode.nFPS = 30; result = depthGenerator.SetMapOutputMode( mapMode );  result = imageGenerator.SetMapOutputMode( mapMode );  //【4】// correct view port  depthGenerator.GetAlternativeViewPointCap().SetViewPoint( imageGenerator ); //【5】//read dataresult = context.StartGeneratingAll();  //【6】result = context.WaitNoneUpdateAll();  while((key!=27) && !(result = context.WaitNoneUpdateAll()) ){//get meta datadepthGenerator.GetMetaData(depthMD); imageGenerator.GetMetaData(imageMD);
//----------------------------------------------------------------------
//---------------转换为Mat操作,3种方式----------------------------
//------------------------------------------------------------------------if(depthMD.Data()!=NULL){//方法【1】通过Mat定义//convert ImageMetaData to Matuchar *q = (uchar *) imageMD.Data();Mat rgbMat1(480,640,CV_8UC3,q);Mat rgbMatShow1;cvtColor(rgbMat1,rgbMatShow1,CV_RGB2BGR);imshow("testColorMat",rgbMatShow1);//convert DepthMetaData to Matunsigned short* p = (unsigned short*)  depthMD.Data();Mat depthMat1(480,640,CV_16SC1,p);Mat depthMatShow1(480,640,CV_8UC1);convertScaleAbs(depthMat1,depthMatShow1,255/4096.0);//这一步很重要;normalize(depthMatShow1,depthMatShow1,255,0,CV_MINMAX);imshow("testDepthMat",depthMatShow1);//方法【2】通过坐标(x,y),ImageMetaData貌似不太支持;Mat depthMat2(480,640,CV_16SC1);Mat depthMatShow2(480,640,CV_8UC1);UINT16* depth_p;for (int y=0; y<480; y++){depth_p = depthMat2.ptr<UINT16>(y);for (int x=0; x<640; x++){depth_p[x]=(UINT16)depthMD(x,y);//核心赋值}}convertScaleAbs(depthMat2,depthMatShow2,255/4096.0);//这一步很重要;normalize(depthMatShow2,depthMatShow2,255,0,CV_MINMAX);imshow("testDepthMat2",depthMatShow2);//方法【3】通过指针操作；//RGBMat rgbMat3(480,640,CV_8UC3);Mat rgbMatShow3;uchar *rgb_p;UINT8 *src_p;src_p = (UINT8*) imageMD.Data();for (int y=0; y<480; y++){rgb_p = rgbMat3.ptr<uchar>(y);for (int x=0; x<640; x++){*rgb_p++ =(uchar) *src_p++;*rgb_p++ =(uchar) *src_p++;*rgb_p++ =(uchar) *src_p++;}}cvtColor(rgbMat3,rgbMatShow3,CV_RGB2BGR);imshow("testColorMat3",rgbMatShow3);Mat depthMat3(480,640,CV_16SC1);Mat depthMatShow3(480,640,CV_8UC1);UINT16* depthSrc_p;uchar* depth3_p;depthSrc_p = (UINT16*)depthMD.Data();for (int y=0; y<480; y++){depth3_p = depthMatShow3.ptr<uchar>(y);for (int x=0; x<640; x++){depth3_p[x]= (uchar)((*depthSrc_p)*255/4096);//depthSrc_p++;}}//convertScaleAbs(depthMat3,depthMatShow3,255/4096.0);//这一步很重要;normalize(depthMatShow3,depthMatShow3,255,0,CV_MINMAX);imshow("testDepthMat3",depthMatShow3);}//OpenCV output
// ----------------------------------------------------------------------
// ---------------转换为IplImage操作----------------------------
// ------------------------------------------------------------------------memcpy(imgDepth16u->imageData,depthMD.Data(),640*480*2);cvConvertScale(imgDepth16u,depthShow,255/4096.0,0);memcpy(imgRGB8u->imageData,imageMD.Data(),640*480*3);cvCvtColor(imgRGB8u,imageShow,CV_RGB2BGR);cvShowImage("depth", depthShow);cvShowImage("image",imageShow);key=cvWaitKey(20);}}

2.通过NiSample的直方图赋值方法：

优点：生成的深度图层次比较明显。

代码附带深度阈值分割

#include <stdlib.h>
#include <iostream>
#include <string>#include <XnCppWrapper.h>
#include "opencv/cv.h"
#include "opencv/highgui.h"using namespace std;
using namespace cv;void CheckOpenNIError( XnStatus result, string status )
{ if( result != XN_STATUS_OK ) cerr << status << " Error: " << xnGetStatusString( result ) << endl;
}int main( int argc, char** argv )
{XnStatus result = XN_STATUS_OK;  xn::DepthMetaData depthMD;xn::ImageMetaData imageMD;//【2】// context xn::Context context; result = context.Init(); CheckOpenNIError( result, "initialize context" );  // creategenerator  xn::DepthGenerator depthGenerator;  result = depthGenerator.Create( context ); CheckOpenNIError( result, "Create depth generator" );  xn::ImageGenerator imageGenerator;result = imageGenerator.Create( context ); CheckOpenNIError( result, "Create image generator" );//【3】//map mode  XnMapOutputMode mapMode; mapMode.nXRes = 640;  mapMode.nYRes = 480; mapMode.nFPS = 30; result = depthGenerator.SetMapOutputMode( mapMode );  result = imageGenerator.SetMapOutputMode( mapMode );  //【4】// correct view port// 若使用imageGenerator则深度图有一圈黑depthGenerator.GetAlternativeViewPointCap().SetViewPoint( depthGenerator ); //【5】//read dataresult = context.StartGeneratingAll();  //【6】result = context.WaitNoneUpdateAll();  Mat depthMat1u(480,640,CV_8UC1);Mat depthMat3u(480,640,CV_8UC3);char key=0;while((key!=27) && !(result = context.WaitNoneUpdateAll()) ){//get meta datadepthGenerator.GetMetaData(depthMD); imageGenerator.GetMetaData(imageMD);//直接Mat赋值操作uchar *q = (uchar *) imageMD.Data();Mat rgbMat1(480,640,CV_8UC3,q);Mat rgbMatShow1;cvtColor(rgbMat1,rgbMatShow1,CV_RGB2BGR);imshow("testColorMat",rgbMatShow1);//通过OpenNI Sample 中 NUISampleViewer 的 pDepthHist[*pDepth]操作.XnDepthPixel nZRes = depthMD.ZRes();float* pDepthHist = (float*)malloc(nZRes * sizeof(float));const XnDepthPixel* pDepth = depthMD.Data();xnOSMemSet(pDepthHist, 0, nZRes*sizeof(float));unsigned int nNumberOfPoints = 0;for (XnUInt y = 0; y < depthMD.YRes(); ++y){for (XnUInt x = 0; x < depthMD.XRes(); ++x, ++pDepth){if (*pDepth != 0){pDepthHist[*pDepth]++;nNumberOfPoints++;}}}for (int nIndex=1; nIndex<nZRes; nIndex++){pDepthHist[nIndex] += pDepthHist[nIndex-1];}if (nNumberOfPoints){for (int nIndex=1; nIndex<nZRes; nIndex++){pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (pDepthHist[nIndex] / nNumberOfPoints)));}}const XnDepthPixel* pDepthRow = depthMD.Data();for (XnUInt y = 0; y < depthMD.YRes(); ++y){const XnDepthPixel* pDepth = pDepthRow;uchar* depthMat1u_p = depthMat1u.ptr<uchar>(y);for (XnUInt x = 0; x < depthMD.XRes(); ++x, ++pDepth){if (1/**pDepth != 0*/){uchar nHistValue =(uchar) pDepthHist[*pDepth];depthMat1u_p[x] = nHistValue;//NiSample是将B、G两个通道都赋值生成黄色深度图}}pDepthRow += depthMD.XRes();}//normalize(depthMat1u,depthMat1u,255,0,CV_MINMAX);Point maxLoc;double maxV;minMaxLoc(depthMat1u,0,&maxV,0,&maxLoc);Mat mask(480,640,CV_8UC1);threshold(depthMat1u,mask,0.9*maxV,255,THRESH_BINARY);imshow("mask",mask);cvtColor(depthMat1u,depthMat3u,CV_GRAY2BGR);circle(depthMat3u,maxLoc,5,Scalar(0,255,0),-1);imshow("depthMaxloc",depthMat3u);key=waitKey(20);}}

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