使用opencv显示openni获取的图像

#include "stdafx.h"



#include <XnCppWrapper.h>

#include "cv.h"

#include "highgui.h"



#define SAMPLE_XML_PATH "F:/KFQ/downloads/openni_src/openni/Data/SamplesConfig.xml"

#define MAX_DEPTH 10000

#define CHECK_RC(nRetVal, what)										/

	if (nRetVal != XN_STATUS_OK)									/

	{																/

	printf("%s failed: %s/n", what, xnGetStatusString(nRetVal));	/

	printf("press any key to escape/n");							/

	getchar();														/

	return nRetVal;}	







float g_depthHist[MAX_DEPTH];

xn::ImageMetaData g_imd;

xn::DepthMetaData g_dmd;

xn::Context g_context;

xn::ImageGenerator g_image;	

xn::DepthGenerator g_depth;

IplImage *g_pImgColor=0;

IplImage *g_pImgDepth=0;



//note that the channels' order is B G R in opencv

void UpdateColorImage(IplImage *pImg);

void UpdateDepthImage(IplImage *pImg);

int _tmain(int argc, _TCHAR* argv[])

{

	XnStatus nRetVal = XN_STATUS_OK; 		

	

	nRetVal=g_context.Init();

	g_context.OpenFileRecording("F:/xx.ONI");	

	nRetVal=g_context.FindExistingNode(XN_NODE_TYPE_IMAGE,g_image);	

	CHECK_RC(nRetVal,"find image");

	nRetVal=g_context.FindExistingNode(XN_NODE_TYPE_DEPTH,g_depth);

	CHECK_RC(nRetVal,"find depth");



	g_image.GetMetaData(g_imd);

	g_depth.GetMetaData(g_dmd);



	bool bRun=true;

	int nWidth;

	int nHeight;

	

	while(bRun)

	{

		nRetVal=g_context.WaitAnyUpdateAll();

		if(nRetVal!=XN_STATUS_OK)

		{

			printf("failed update/n");

			continue;

		}

		g_image.GetMetaData(g_imd);

		g_depth.GetMetaData(g_dmd);

		

		if(g_pImgColor==0)

		{

			nWidth=g_imd.XRes();

			nHeight=g_imd.YRes();

			g_pImgColor=cvCreateImage(cvSize(nWidth,nHeight),8,3);

			cvZero(g_pImgColor);

		}

		if(g_pImgDepth==0)

		{

			nWidth=g_dmd.XRes();

			nHeight=g_dmd.YRes();

			g_pImgDepth=cvCreateImage(cvSize(nWidth,nHeight),8,3);

			cvZero(g_pImgDepth);

		}

		

		UpdateColorImage(g_pImgColor);

		UpdateDepthImage(g_pImgDepth);		

		

		cvShowImage("img",g_pImgColor);

		cvShowImage("depth",g_pImgDepth);

		char c=cvWaitKey(30);

		if(27==c)break;

	}

	if(g_pImgDepth)cvReleaseImage(&g_pImgDepth);

	if(g_pImgColor)cvReleaseImage(&g_pImgColor);

	g_context.Shutdown();

	return 0;

}



void UpdateColorImage(IplImage *pImg)

{

	if(pImg->widthStep%4!=0)

	{

		const XnRGB24Pixel *pSrc=g_imd.RGB24Data();

		

		for(int i=0;i<pImg->height;i++)

		{

			char *pDstRow=pImg->imageData+i*pImg->widthStep;

			for(int j=0;j<pImg->width;j++)

			{				

				*(pDstRow+3*j)=pSrc->nBlue;				

				*(pDstRow+3*j+1)=pSrc->nGreen;				

				*(pDstRow+3*j+2)=pSrc->nRed;

				pSrc++;				

			}

		}

	}

	else

	{

		xnOSMemCopy(pImg->imageData,g_imd.RGB24Data(),pImg->width*pImg->height*sizeof(XnUInt8)*3);

		cvCvtColor(pImg,pImg,CV_BGR2RGB);

	}	

}

void UpdateDepthImage(IplImage *pImg)

{

	int numberOfPoints=0;

	const XnDepthPixel* pDepth = g_dmd.Data();

	xnOSMemSet(g_depthHist, 0, MAX_DEPTH*sizeof(float));

	unsigned long int total=0;

	int height=g_dmd.YRes();

	int width=g_dmd.XRes();

	

	//Calculate the accumulative histogram

	for(int i=0;i<height;i++)

	{

		for(int j=0;j<width;j++)

		{

			unsigned int val=*pDepth;

			if(val!=0)

			{

				g_depthHist[val]++;

				

				numberOfPoints++;

			}

			pDepth++;

			total++;

		}

	}

	for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++)

	{

		g_depthHist[nIndex] += g_depthHist[nIndex-1];

	}

	if (numberOfPoints)

	{

		for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++)

		{

			g_depthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_depthHist[nIndex] / numberOfPoints)));

		}

	}

	

	const XnDepthPixel* pDepthRow = g_dmd.Data();

	for(int i=0;i<g_dmd.YRes();i++)

	{

		char *pDstRow=pImg->imageData+i*pImg->widthStep;

		for(int j=0;j<g_dmd.XRes();j++)

		{

			if(*pDepthRow!=0)

			{

				int val=g_depthHist[*pDepthRow];

				//B G R

				*(pDstRow+3*j)=0;

				*(pDstRow+3*j+1)=val;

				*(pDstRow+3*j+2)=val;

			}

			

			pDepthRow++;

		}

	}

}

　　

需要注意下的是如果自己手动创建节点，在调用context.StartGeneratingAll()的时候会产生错误，这应该是我在创建的时候没有配置好相关属性还是别的什么，总之为了避免麻烦还是使用xml来配置更好

opencv里的像素通道顺序是BGR