方法contextOpenNI: 深度图显示方法

文章结束给大家来个程序员笑话：[M]

    OpenNI的深度图表现有重要有两种方法：

    1.深度值直接赋值方法（同上一篇）：

    缺点：深度图层次不显著，重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;



	//OpenCV

	IplImage*  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 data

	result = context.StartGeneratingAll();  

	//【6】

	result = context.WaitNoneUpdateAll();  





	while((key!=27) && !(result = context.WaitNoneUpdateAll()) )

	{

		//get meta data

		depthGenerator.GetMetaData(depthMD); 

		imageGenerator.GetMetaData(imageMD);

//----------------------------------------------------------------------

//---------------转换为Mat操作,3种方法----------------------------

//------------------------------------------------------------------------

		if(depthMD.Data()!=NULL)

		{

			//方法【1】通过Mat定义

			//convert ImageMetaData to Mat

			uchar *q = (uchar *) imageMD.Data();

			Mat rgbMat1(480,640,CV_8UC3,q);

			Mat rgbMatShow1;

			cvtColor(rgbMat1,rgbMatShow1,CV_RGB2BGR);

			imshow("testColorMat",rgbMatShow1);



			//convert DepthMetaData to Mat

			unsigned 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；

			//RGB

			Mat 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);

		

	}



}

    每日一道理
我拽着春姑娘的衣裙，春姑娘把我带到了绿色的世界里。

    2.通过NiSample的直方图赋值方法：

    长处：生成的深度图层次比较显著。

    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 data

	result = 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 data

		depthGenerator.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);

	}



	

}

文章结束给大家分享下程序员的一些笑话语录： 这个世界上只有10种人：懂得二进制的和不懂得二进制的。

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方法和context
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