将oni拆分成RGB图和D图

CMakeLists.txt

cmake_minimum_required(VERSION 3.6)
project(onion)

# compile with C++11 support
add_definitions("-std=c++0x -Dlinux -D__STANDALONE_ONI_EXTRACTOR")

# OpenCV
find_package(OpenCV REQUIRED)

# OpenNI
set(OPENNI_INCLUDE_DIRS "$ENV{OPEN_NI_INSTALL_PATH}/usr/include/ni")
include_directories(${OPENNI_INCLUDE_DIRS})
find_library(OPEN_NI_LIBRARY NAMES OpenNI PATHS $ENV{OPEN_NI_INSTALL_PATH}/usr/lib)
SET(LIBS ${LIBS} ${OPEN_NI_LIBRARY})

set(SOURCE_FILES main.cpp)

add_executable(onion ${SOURCE_FILES})
target_link_libraries(onion ${LIBS} ${OpenCV_LIBS})

main.cpp

#include <string>
#include <vector>
#include <chrono>
#include <iostream>
#include <algorithm>
#include <XnCppWrapper.h>
#include <opencv2/opencv.hpp>

#define RETURN_ON_ERROR(status, errmsg) {if (status != XN_STATUS_OK) {std::cerr<<errmsg<<std::endl; return false;}}


int main(int argc, char **argv) {
    if (argc < 3) {
        std::cerr << "参数1是.oni文件的路径" << std::endl;
        std::cerr << "参数2是输出文件夹的路径" << std::endl;
        return 1;
    }
    std::string oni_file_path(argv[1]);
    std::string output_dir_name(argv[2]);

    xn::Context xContext;
    xn::Player xPlayer;
    xn::ImageGenerator xImageGenerator;
    xn::DepthGenerator xDepthGenerator;

    unsigned int numFrames = 0;

    // 初始化
    RETURN_ON_ERROR(xContext.Init(), "Unable to initialize Context");
    RETURN_ON_ERROR(xContext.OpenFileRecording(oni_file_path.c_str(), xPlayer),
                    "Unable to open file " << oni_file_path);
    xPlayer.SetRepeat(static_cast<XnBool >(false));
    RETURN_ON_ERROR(xDepthGenerator.Create(xContext), "Unable to create DepthGenerator!");
    RETURN_ON_ERROR(xImageGenerator.Create(xContext), "Unable to create ImageGenerator!");
    xImageGenerator.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
    RETURN_ON_ERROR(xPlayer.GetNumFrames(xImageGenerator.GetName(), numFrames), "Unable to get number of frames!");
    std::cout << "Number of frames: " << numFrames << std::endl;
    RETURN_ON_ERROR(xContext.StartGeneratingAll(), "Unable to start generating images!");
    const xn::NodeInfo info = xImageGenerator.GetInfo();

    // 两个窗口
    cv::namedWindow("RGB", CV_WINDOW_AUTOSIZE);
    cv::namedWindow("Depth", CV_WINDOW_AUTOSIZE);

    // 两个原始数据
    xn::ImageMetaData xImageMap;
    xn::DepthMetaData xDepthMap;

    // 两个Mat
    cv::Mat imgRGB;
    cv::Mat imgDepth;

    // 临时变量
    cv::Mat imgRW;
    int index = 0;
    int numPx = 0;
    int xRes = 0, yRes = 0, h = 0, w = 0;
    const XnDepthPixel *pDepth = nullptr;
    const XnRGB24Pixel *xx = nullptr;

    std::vector<cv::Mat> xyd;
    char output_file_name[20];
    // 逐帧拆开
    for (unsigned long int i = 0; i < numFrames; ++i) {
        std::cout << i << std::endl;
        xImageGenerator.WaitAndUpdateData();
        xDepthGenerator.WaitAndUpdateData();
        if ((i % 30) != 0) {
            continue;
        }
        // 获取RGB图像
        xImageGenerator.GetMetaData(xImageMap);
        h = xImageMap.YRes();
        w = xImageMap.XRes();
        xx = xImageMap.RGB24Data();
        imgRGB = cv::Mat(h, w, CV_8UC3, (void *) xx);
        cvtColor(imgRGB, imgRGB, CV_BGR2RGB);

        // 获取深度图像
        xDepthGenerator.GetMetaData(xDepthMap);
        xRes = xDepthMap.FullXRes();
        yRes = xDepthMap.FullYRes();
        pDepth = xDepthMap.Data();
        numPx = xRes * yRes;
        XnPoint3D ptProj[numPx];
        XnPoint3D ptWorld[numPx];
        for (int y = 0; y < yRes; ++y) {
            for (int x = 0; x < xRes; ++x) {
                index = x + y * xRes;
                ptProj[index].X = (XnFloat) x;
                ptProj[index].Y = (XnFloat) y;
                ptProj[index].Z = pDepth[index];
            }
        }
        xDepthGenerator.ConvertProjectiveToRealWorld((XnUInt32) numPx, ptProj, ptWorld);
        (cv::Mat(yRes, xRes, CV_32FC3, (void *) ptWorld)).copyTo(imgRW);
        cv::split(imgRW, xyd);
        imgDepth = xyd.at(2);
        imgDepth.convertTo(imgDepth, CV_16U);

        // 显示
        cv::imshow("RGB", imgRGB);
        cv::imshow("Depth", imgDepth);
        sprintf(output_file_name, output_dir_name + "/depth/depth_%ld.png", i);
        cv::imwrite(output_file_name, imgDepth);
        sprintf(output_file_name, output_dir_name + "/rgb/rgb_%ld.png", i);
        cv::imwrite(output_file_name, imgDepth);
        cv::waitKey(1);
    }

    // 停止
    xContext.StopGeneratingAll();
    xContext.Release();

    return 0;
}