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 
    
     #include 
     
      #include 
      
       #include 
       
        #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
        
         (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
         
          (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
          
           (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 
    
     #include 
     
      #include 
      
       #include 
       
        #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
        
         (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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