kinect深度图转换为 HSI图和灰度图 代码

// 编程中最没用的东西是源代码，最有用的东西是算法和数据结构#include "opencv2/core.hpp"#include "opencv2/imgproc.hpp"#include "opencv2/highgui.hpp"#include "MMAPFile.h"#include "CLog.h"#include "CLogManager.h"#include "io.h"#include "direct.h"#include "math.h"using namespace std;using namespace cv;#define KINECT_DEPTH_WIDTH          512#define KINECT_DEPTH_HEIGHT         424#define KINECT_COLOR_WIDTH          1920#define KINECT_COLOR_HEIGHT         1080#define KINECT_COLOR_720P_WIDTH     1280#define KINECT_COLOR_720P_HEIGHT    720#define KINECT_COLOR_1080P_WIDTH    1920#define KINECT_COLOR_1080P_HEIGHT   1080#define KINECT_BUFFER_SZIE          30LogManager* g_logmanager;CLog* g_log;typedef struct{    uchar R;    uchar G;    uchar B;}RgbType;typedef struct{    float H;    float I;    float S;}HsiType;const double PI = 3.1415926535897932;void log_init(){    if (_access("log", 0) == -1)    {        _mkdir("log");    }    SYSTEMTIME systemTime;    GetLocalTime(&systemTime);    char LogFileString[100] = { 0 };    sprintf_s(LogFileString, "log\\DepthAlg_%02d_%02d_%02d_%02d_%02d.txt",        systemTime.wMonth,        systemTime.wDay,        systemTime.wHour,        systemTime.wMinute,        systemTime.wSecond);    g_logmanager->Clear();    g_log = g_logmanager->OpenLog(LogFileString);    g_log->SetLogLevel(CLog::LL_INFORMATION);    g_log->ClearLogFile();}void convertHSItoRGB(HsiType* hsi, RgbType* rgb){    double Doublepi = 2 * 3.1415926535897932;    float B = 0.0f;    float R = 0.0f;    float G = 0.0f;    if ((hsi->H >= 0.0f) && (hsi->H < Doublepi / 3))    {        B = hsi->I*(1.0f - hsi->S);        R = hsi->I*(1.0f + hsi->S*cos(hsi->H) / cos(Doublepi / 6 - hsi->H));        G = 3 * hsi->I - (R + B);    }    else if ((hsi->H >= Doublepi / 3) && (hsi->H < 2*Doublepi / 3))    {        hsi->H = hsi->H - Doublepi / 3;        R = hsi->I*(1.0f - hsi->S);        G = hsi->I*(1.0f + hsi->S*cos(hsi->H) / cos(Doublepi / 6 - hsi->H));        B = 3 * hsi->I - (R + B);    }    else if ((hsi->H >= 2 * Doublepi / 3) && (hsi->H < Doublepi))    {        hsi->H = hsi->H - 2 * Doublepi / 3;        G = hsi->I*(1.0f - hsi->S);        B = hsi->I*(1.0f + hsi->S*cos(hsi->H) / cos(Doublepi / 6 - hsi->H));        R = 3 * hsi->I - (R + B);    }    rgb->B = (uchar)(255.0f * B);    rgb->R = (uchar)(255.0f * R);    rgb->G = (uchar)(255.0f * G);    return;}int main(){    log_init();    char str[100] = "meshfile_04_11_16_35_55_086.bin";    string filename(str);    CMMAPFile* pCMMAPFile = new CMMAPFile();    unsigned long size_low = 0;    unsigned long size_high = 0;    size_low = pCMMAPFile->MMAP_GetFileSize(filename, &size_high);    ushort* pDepth = (ushort*)pCMMAPFile->MMAP_CreateFile(filename, CMMAPFILE_OPEN_EXISTING, 0, size_low, size_high);    Mat DepthImage(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_8UC3);    Mat GaryImage(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_8UC3);    uchar* ptr = (uchar*)DepthImage.data;    uchar* garyptr = (uchar*)GaryImage.data;    RgbType rgb;    HsiType hsiColor;    ushort depth;    for (int i = 0; i < KINECT_DEPTH_HEIGHT; i++)    {        for (int j = 0; j < KINECT_DEPTH_WIDTH; j++)        {            //g_log->WriteLog(CLog::LL_INFORMATION, "pDepth[%d %d] %d", i, j, pDepth[i*KINECT_DEPTH_WIDTH + j]);            depth = pDepth[i*KINECT_DEPTH_WIDTH + j];            if (depth > 10000)            {                depth = 10000;            }            if (depth < 1)            {                depth = 1;            }            hsiColor.H = 2 * PI * (float)(depth-1) / 9999;            hsiColor.I = 1.0f;            hsiColor.S = 1.0f;            convertHSItoRGB(&hsiColor, &rgb);            ptr[0] = rgb.B;            ptr[1] = rgb.G;            ptr[2] = rgb.R;            ptr += 3;            garyptr[0] = 255 * (depth - 1) / 9999;            garyptr[1] = 255 * (depth - 1) / 9999;            garyptr[2] = 255 * (depth - 1) / 9999;            garyptr += 3;        }    }    pCMMAPFile->MMAP_Release();    imshow("pic", DepthImage);    imshow("pic2", GaryImage);    waitKey(0);    return 0;}