Question

我开始使用openni和open cv编程我正在使用kinect。这里是我用来获取数据深度图的代码的一部分（它工作）现在我的问题是：我怎么能得到depht地图作为回报？我的数据是在DepthPixel * pDepth1上，我想显示深度图的图像（因为我想保存她）。谢谢

VideoFrameRef frame;

DepthPixel* pDepth1 = NULL;
DepthPixel* pDepth2 = NULL;
for (int i = 0; i < 2; i++)
{
    int changedStreamDummy;
    VideoStream* pStream = &depth;
    rc = OpenNI::waitForAnyStream(&pStream, 1, &changedStreamDummy, SAMPLE_READ_WAIT_TIMEOUT);
    if (rc != STATUS_OK)
    {
        printf("Wait failed! (timeout is %d ms)\n%s\n", SAMPLE_READ_WAIT_TIMEOUT, OpenNI::getExtendedError());
        continue;
    }

    rc = depth.readFrame(&frame);
    if (rc != STATUS_OK)
    {
        printf("Read failed!\n%s\n", OpenNI::getExtendedError());
        continue;
    }

    if (frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_1_MM && frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_100_UM)
    {
        printf("Unexpected frame format\n");
        continue;
    }

    if (i == 0){
        int dummy;
        cout << "Press any key to take first pic: ";
        cin >> dummy;
        pDepth1 = (DepthPixel*)frame.getData();
    }
    else{
        int dummy;
        cout << "Press any key to take second pic: ";
        cin >> dummy;
        pDepth2 = (DepthPixel*)frame.getData();
    }

Answer 1

假设您已将您的依赖项整理出来，以下内容对我来说是有用的

//set up the capture with the correct settings    
VideoCapture capture = new VideoCapture;
capture->open(CV_CAP_OPENNI);
capture->set(CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ);

//get an image and display it
Mat image;
capture->grab();
capture->retrieve(image, CV_CAP_OPENNI_DEPTH_MAP);

然后像处理任何其他矩阵一样处理图像。请记住，作为捕获的图像CV_16U以16位无符号整数记录深度。

从深度数据获取深度图kinect openni open cv

1 个答案: