OpenNI2获取华硕XtionProLive深度图和彩色图并用OpenCV显示

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有了自己的独立博客，本文新地址：http://masikkk.com/blog/OpenNI2-ASUSXtionProLive-OpenCV/

使用OpenNI2打开XtionProLive时有个问题，彩色图分辨率无论如何设置始终是320*240，深度图倒是可以设成640*480，而OpenNI1.x是可以获取640*480的彩色图的。

彩色图

配准到彩色图后的深度图

1:1融合图

代码：

#include <opencv2/core/core.hpp>#include <opencv2/imgproc/imgproc.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/opencv.hpp>#include <iostream>#include "OpenNI.h"using namespace openni;using namespace cv;using namespace std;int main(){Status rc = STATUS_OK; // OpenNI函数执行结果//OpenNI2图VideoFrameRef oniDepthImg, oniColorImg;//OpenCV图Mat cvDepthImg, cvBGRImg, cvFusionImg;//初始化OpenNI2rc = OpenNI::initialize();//打开Kinect或Xtion设备Device device;const char * deviceURL = openni::ANY_DEVICE;  //设备名rc = device.open(deviceURL);//创建并打开深度数据流VideoStream oniDepthStream; //深度数据流rc = oniDepthStream.create(device, SENSOR_DEPTH); //创建深度数据流if( STATUS_OK == rc ){//设置深度视频模式VideoMode modeDepth;modeDepth.setResolution(320,240/*640,480*/); //分辨率modeDepth.setFps(30); //帧率modeDepth.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM); //深度像素格式oniDepthStream.setVideoMode(modeDepth);oniDepthStream.start(); // 打开深度数据流if(STATUS_OK !=  rc){cerr << "无法打开深度数据流："<<OpenNI::getExtendedError()<<endl;oniDepthStream.destroy();}}else{cerr << "无法创建深度数据流："<<OpenNI::getExtendedError()<<endl;}//创建并打开彩色数据流VideoStream oniColorStream;  //RGB数据流rc = oniColorStream.create(device, SENSOR_COLOR);if(STATUS_OK == rc){//设置彩色视频模式VideoMode modeColor;//不知道为什么，彩色图的分辨率无论如何设置始终都是320*240modeColor.setResolution(320,240/*1280,1040*/);//分辨率modeColor.setFps(30);//帧率modeColor.setPixelFormat(PIXEL_FORMAT_RGB888);//设置深度图和彩色图的配准模式if(device.isImageRegistrationModeSupported(IMAGE_REGISTRATION_DEPTH_TO_COLOR)){device.setImageRegistrationMode(IMAGE_REGISTRATION_DEPTH_TO_COLOR); //深度到彩色图配准}rc = oniColorStream.start(); //打开彩色数据流if( STATUS_OK != rc ){cerr<< "无法打开彩色数据流："<<OpenNI::getExtendedError()<<endl;oniColorStream.destroy();}}else{cerr << "无法创建彩色数据流："<<OpenNI::getExtendedError()<<endl;}if (!oniDepthStream.isValid() || !oniColorStream.isValid()){cerr << "彩色或深度数据流不合法"<<endl;OpenNI::shutdown();return 1;}namedWindow("depth");namedWindow("RGB");namedWindow("fusion");while(true){//读取一帧深度图if( STATUS_OK == oniDepthStream.readFrame(&oniDepthImg) ){Mat cvRawImg16U(oniDepthImg.getHeight(), oniDepthImg.getWidth(), CV_16UC1, (void*)oniDepthImg.getData());cvRawImg16U.convertTo(cvDepthImg, CV_8U, 255.0/(oniDepthStream.getMaxPixelValue()));flip(cvDepthImg,cvDepthImg,1);//水平翻转imshow("depth", cvDepthImg);}//读取一帧彩色图if( STATUS_OK == oniColorStream.readFrame(&oniColorImg) ){Mat cvRGBImg(oniColorImg.getHeight(), oniColorImg.getWidth(), CV_8UC3, (void*)oniColorImg.getData());cvtColor(cvRGBImg, cvBGRImg, CV_RGB2BGR);flip(cvBGRImg,cvBGRImg,1);//水平翻转imshow("RGB", cvBGRImg);}//融合图cvtColor(cvDepthImg,cvFusionImg,CV_GRAY2BGR);addWeighted(cvBGRImg, 0.5, cvFusionImg, 0.5, 0, cvFusionImg);flip(cvFusionImg,cvFusionImg,1);//水平翻转imshow("fusion", cvFusionImg);waitKey(30);//没有waitKey不显示图像}destroyWindow("depth");destroyWindow("RGB");destroyWindow("fusion");oniDepthStream.destroy();oniColorStream.destroy();device.close();OpenNI::shutdown();return 0;}

环境：

XtionProLive，Win7 32位，VS2010，OpenNI2.1.0，OpenCV2.4.4

源码下载：

http://download.csdn.net/detail/masikkk/7582485

OpenNI2.1下载：

http://download.csdn.net/detail/masikkk/7582489

参考：

Kinect+OpenNI学习笔记之2(获取kinect的颜色图像和深度图像)

Kinect+OpenNI学习笔记之4(OpenNI获取的图像结合OpenCV显示)

Kinect开发教程二：OpenNI读取深度图像与彩色图像并显示

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