格式转换OpenNI：开启Kinect & 格式转换Mat

在改章节中,我们主要介绍格式转换的内容,自我感觉有个不错的建议和大家分享下

    OpenNI支撑的图像格式比拟单一

    xn::DepthMetaData depthMD;

    xn::ImageMetaData imageMD;

    需要用OpenCV进行下一步操纵，则需要将DepthMetaData、ImageMetaData转换为Mat

    经过试验，胜利实现了三种方法：

    每日一道理
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#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操纵,3种方式----------------------------

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

		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貌似不太支撑;

			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】通过指针操纵；

			//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操纵----------------------------

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

		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);

		

	}



}

    Reference：http://blog.csdn.net/chenxin_130/article/details/6696187

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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格式和转换
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