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