Realsense（二）实现pxcimage到mat转化的另一种代码方案

前面提到过一种利用realsense提取彩色和深度视频流并实现pxcimage到mat类型转化的方法，具体可见Realsense（一）提取彩色和深度视频流并实现pxcimage到mat。

下面的代码只是在实现pxcimage到mat类型转化上有所不同，利用realsense本身提取彩色和深度视频流的方法不变。

#include <pxcsensemanager.h>  
#include <pxcsession.h>  
#include "util_render.h"  
#include <iostream>  
#include <string>  
#include <stdio.h>  
#include <opencv2\opencv.hpp>  
#include <windows.h>

#define WIDTH 640  
#define HEIGHT 480  

using namespace cv;
using namespace std;

int main(int argc, char** argv)
{
	UtilRender *renderColor = new UtilRender(L"COLOR_STREAM");
	UtilRender *renderDepth = new UtilRender(L"DEPTH_STREAM");

	PXCSenseManager *psm = 0;
	psm = PXCSenseManager::CreateInstance();
	if (!psm)
	{
		wprintf_s(L"Unabel to create the PXCSenseManager\n");
		return 1;
	}
	pxcStatus sts;

	psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, WIDTH, HEIGHT);

	psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, WIDTH, HEIGHT);

	sts = psm->Init();
	if (sts != PXC_STATUS_NO_ERROR)
	{
		wprintf_s(L"Unabel to Initializes the pipeline\n");
		return 2;
	}

	Mat img = Mat(HEIGHT, WIDTH, CV_16UC1);
	ushort *p;
	PXCImage *colorIm, *depthIm;
	PXCImage::ImageData depth_data, color_data;
	PXCImage::ImageInfo depth_info, color_info;
	while (psm->AcquireFrame(true) >= PXC_STATUS_NO_ERROR)
	{
		if (psm->AcquireFrame(true) < PXC_STATUS_NO_ERROR) break;

		PXCCapture::Sample *sample = psm->QuerySample();
		colorIm = sample->color;
		depthIm = sample->depth;

		if (colorIm->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::PIXEL_FORMAT_RGB24, &color_data) < PXC_STATUS_NO_ERROR)
			wprintf_s(L"未正常获取彩色图\n");
		if (depthIm->AcquireAccess(PXCImage::ACCESS_READ, &depth_data) < PXC_STATUS_NO_ERROR)
			wprintf_s(L"未正常获取深度图\n");

		depth_info = sample->depth->QueryInfo();
		color_info = sample->color->QueryInfo();

		//Mat depth(Size(depth_info.width, depth_info.height), CV_16UC1, (void*)depth_data.planes[0], depth_data.pitches[0] / sizeof(uchar));
		Mat color(Size(color_info.width, color_info.height), CV_8UC3, (void*)color_data.planes[0], color_data.pitches[0] / sizeof(uchar));

		ushort *dpixels = (ushort*)depth_data.planes[0];
		int dpitch = depth_data.pitches[0] / sizeof(ushort);

		for (int y = 0; y < (int)depth_info.height; y++)
		{
			for (int x = 0; x < (int)depth_info.width; x++)
		        {
		           ushort d = dpixels[y*dpitch + x];
		           p = img.ptr<ushort>(y);
		          //距离在0.2m至1.2m之间
		          if (d>0)
		             p[x] = 255 - 0.255*(d - 200);
		          else
		             p[x] = 0;
		        }
		}
		Mat output;
		img.convertTo(output, CV_8UC1, 1);
			
		depthIm->ReleaseAccess(&depth_data);
		colorIm->ReleaseAccess(&color_data);

		if (!renderColor->RenderFrame(colorIm)) break;
		if (!renderDepth->RenderFrame(depthIm)) break;
		psm->ReleaseFrame();

		imshow("depth picture", output);
		waitKey(1);

		imshow("color", color);
		waitKey(1);
	}
	psm->Release();
	system("pause");
}

更具体的说，彩色图的转化没有变，只是深度图的转化代码方案不同。

下面是效果图：

上一篇博客的效果图对比如下：

可以看到，新方案在深度图的pxcimage到mat的转化上似乎表现更好一些，但无论是哪一种，转化为mat类型之后，深度图的直观表现都没有realsense本身的pxcimage好，图中可明显看出鼻子区域的深度表现。

Realsense（二）实现pxcimage到mat转化的另一种代码方案

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