Obtain the Asus xtionprolive depth chart and color chart by using openn20.

There is a problem when opening xtionprolive using openn2. the color image resolution is always set to 320*240, but the depth graph can be set to 640*480, openni1.x can obtain a 640*480 color image.

Color chart

Depth Map after registration to a color chart

Converged Graph

Code:

# Include <opencv2/CORE/core. HPP> # include <opencv2/imgproc. HPP> # include <opencv2/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 function execution result // videoframeref onidepthimg, onicolorimg; // opencv mat cvdepthimg, cvbgrimg, and cvfusionimg; // initialize openni2rc = op Enni: Initialize (); // enable the device of the Kinect or xtion device; const char * deviceurl = openni: any_device; // The device name rc = device. open (deviceurl); // create and open the deep data stream videostream onidepthstream; // The deep data stream rc = onidepthstream. create (device, sensor_depth); // create a deep data stream if (status_ OK = RC) {// set the deep video mode videomode modedepth; modedepth. setresolution (320,240/* 640,480 */); // resolution modepth. setfps (30); // Frame Rate modedepth. setpixelformat (pixel_format _ Depth_1_mm); // The onidepthstream. setvideomode (modedepth); onidepthstream. Start (); // open the deep data stream if (status_ OK! = RC) {cerr <"cannot open deep data streams:" <openni: getextendederror () <Endl; onidepthstream. destroy () ;}} else {cerr <"cannot create a deep data stream:" <openni: getextendederror () <Endl ;} // create and open the color data stream videostream onicolorstream; // RGB data stream rc = onicolorstream. create (device, sensor_color); If (status_ OK = RC) {// sets the color video mode videomode modecolor; // I don't know why, the resolution of a color chart is always 320 * 240modecolor. setresolution (320,240/*, */); // resolution modecolor. setfps (30 ); // Frame Rate modecolor. setpixelformat (pixel_format_rgb888); // sets the registration mode of the Depth graph and the color graph if (device. isimageregistrationmodesupported (image_registration_depth_to_color) {Device. setimageregistrationmode (image_registration_depth_to_color); // depth to color image registration} rc = onicolorstream. start (); // enable the color data stream if (status_ OK! = RC) {cerr <"color data streams cannot be opened:" <openni: getextendederror () <Endl; onicolorstream. destroy () ;}} else {cerr <"you cannot create a color data stream:" <openni: getextendederror () <Endl ;}if (! Onidepthstream. isvalid () |! Onicolorstream. isvalid () {cerr <"invalid color or deep data stream" <Endl; openni: Shutdown (); return 1 ;}namedwindow ("depth "); namedwindow ("RGB"); namedwindow ("fusion"); While (true) {// read a frame of depth graph if (status_ OK = onidepthstream. readframe (& onidepthimg) {mat cvrawimg16u (onidepthimg. getheight (), onidepthimg. getwidth (), cv_16uc1, (void *) onidepthimg. getdata (); cvrawimg16u. convertize (cvdepthimg, cv_8u, 255.0/(onidepthstream. getmaxpixelvalue (); flip (cvdepthimg, cvdepthimg, 1); // horizontal flip imshow ("depth", cvdepthimg );} // read a color chart 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); // horizontally flip imshow ("RGB", cvbgrimg );} // fusion map cvtcolor (watermark, cvfusionimg, watermark); addweighted (cvbgrimg, 0.5, cvfusionimg, 0.5, 0, cvfusionimg); flip (cvfusionimg, cvfusionimg, 1 ); // horizontal flip imshow ("fusion", cvfusionimg); waitkey (30); // No waitkey does not show the image} destroywindow ("depth"); destroywindow ("RGB "); destroywindow ("fusion"); onidepthstream. destroy (); onicolorstream. destroy (); device. close (); openni: Shutdown (); Return 0 ;}

Environment:

Xtionprolive, win7 32-bit, vs2010, openni2.1.0, opencv2.4.4

Download source code:

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

Openni2.1 download:

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

Refer:

Kinect + openni study note 2 (obtain the color and depth of the Kinect image)

Kinect + openni study note 4 (image obtained by openni combined with opencv display)

Kinect development tutorial 2: openni reads and displays deep and color images