Kinect (三)读取深度图数据

下面还是参考的小斤的博客（似乎是一模一样的，汗）

#include <stdlib.h>
#include <iostream>
#include <string>
#include "OpenNI.h"

#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"

using namespace std;
using namespace cv;
using namespace openni;

#define Capture
//#define Show
//检查OPenNI是否初始化成功
void CheckOpenNIError(Status result, string status)
{
	if (result != STATUS_OK)
		cerr << status << " Error: " << OpenNI::getExtendedError() << endl;
}

int main(int argc, char** argv)
{
#ifdef Capture
	Status result = STATUS_OK;

	//OpenNI2 image
	VideoFrameRef oniDepthImg;

	//OpenCV image
	cv::Mat cvDepthImg;
	
	char key = 0;

	//【1】
	// initialize OpenNI2
	result = OpenNI::initialize();
	CheckOpenNIError(result, "initialize context");

	// open device  
	Device device;
	result = device.open(openni::ANY_DEVICE);

	//【2】制造深度数据流
	// create depth stream 
	VideoStream oniDepthStream;
	result = oniDepthStream.create(device, openni::SENSOR_DEPTH);

	//【3】设置深度数据的格式
	// set depth video mode
	VideoMode modeDepth;
	modeDepth.setResolution(640, 480);//大小 640X480
	modeDepth.setFps(30);//设置帧率三十帧
	modeDepth.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
	oniDepthStream.setVideoMode(modeDepth);
	// start depth stream
	result = oniDepthStream.start();


	//【4】
	// set depth and color imge registration mode
	if (device.isImageRegistrationModeSupported(IMAGE_REGISTRATION_DEPTH_TO_COLOR))
	{
		device.setImageRegistrationMode(IMAGE_REGISTRATION_DEPTH_TO_COLOR);
	}
	// start color stream
	int i = 240, j = 320;
	//确定16位的openni数据图像与8位opencv图像的转换
	double  Unit = 255.0 / (oniDepthStream.getMaxPixelValue());
	while (key != 27)
	{
		// read frame
		if (oniDepthStream.readFrame(&oniDepthImg) == STATUS_OK)
		{
			cv::Mat cvRawImg16U(oniDepthImg.getHeight(), oniDepthImg.getWidth(), 
            CV_16UC1, (void*)oniDepthImg.getData());
			cvRawImg16U.convertTo(cvDepthImg, CV_8U,Unit);
			//【5】
			// convert depth image GRAY to BGR

			cv::imshow("depth", cvDepthImg);
			imwrite("1.jpg", cvDepthImg);
			//得到像素值得范围-----[0,10000]
			cout << "the max pixel value is " << oniDepthStream.getMaxPixelValue()<< endl;
			cout << "the min pixel value is " << oniDepthStream.getMinPixelValue ()<< endl;
			cout << "coordinate i,j is "<<((int) (cvDepthImg.at<uchar>(j,i)))/Unit << endl;
		}

		key = cv::waitKey(20);
	}

	//cv destroy
	

	//OpenNI2 destroy
	oniDepthStream.destroy();
	device.close();
	OpenNI::shutdown();
#elif defined  Show
	cv::Mat picture=cv::imread("C:\\Users\\Administrator\\Desktop\\Photo\\1.jpg");
	cv::Mat picture_gray = Mat(picture.rows ,picture.cols,CV_8UC1 );
	cv::Mat color = cv::imread("E:\\Kinect学习\\1.png");
	
	cv::cvtColor(picture, picture_gray, CV_BGR2GRAY);
	int k = 0;
	
		if (!color .data)                              // Check for invalid input
		{
			cout << "Could not open or find the image" << std::endl;
			return -1;
		}
		else
			//imshow("picture", picture);

		{
			cv::imshow("picture_gray", picture_gray);
			cv::imshow("good", color);
		}
	cvWaitKey(0);
#endif
	return 0;
}

可以看到，图片读取过程如下：

1、初始化

2、设置数据流格式

3、开始传输

4、读取

5、转换为Opencv图片显示

具体的环境就需要我们自己配置啦