cv :: Mat和XnDepthPixel之间的转换*

问题描述

我使用OpenNI 1.5.4.0和OpenCV 2.4.5，加上Qt的可视化目的（只有RGB图像）。
基本上，我从Kinect中检索深度和rgb帧，并将它们存储在硬盘驱动器上，使用转换：

i am working with OpenNI 1.5.4.0 and OpenCV 2.4.5, plus Qt for visualization purpose (only RGB images).Basically, i am retrieving the depth and rgb frames from a Kinect and store them on the hard drive, using the conversion:

/* Depth conversion */

cv::Mat depth = cv::Mat(2, sizes, CV_16UC1, (void*) pDepthMap); //XnDepthPixel *pDepthMap

/* RGB conversion */

///image is a QImage* , pImageMap is a XnUInt8*

for(int i = 0; i < height; ++i)
{
    for (unsigned y = 0; y < height; ++y)
    {
       uchar *imagePtr = (*image).scanLine(y);
       for (unsigned x=0; x < width; ++x)
       {
          imagePtr[0] = pImageMap[2];
          imagePtr[1] = pImageMap[1];
          imagePtr[2] = pImageMap[0];
          imagePtr[3] = 0xff;
          imagePtr+=4;
          pImageMap+=3;
       }
    }
}

来自硬盘驱动器的那些图像，以便将3D点云计算为后处理计算。
我加载深度映射为：

Now, i want to load those images from hard drive, in order to compute the 3D pointclouds as a post-processing computation.I am loading the Depth maps as:

depth_image = cv::imread(m_rgb_files.at(w).toStdString(), CV_LOAD_IMAGE_ANYDEPTH | CV_LOAD_IMAGE_ANYCOLOR );

，但应用公式：

depth = depth_image.at<int>(j,i);  //depth_image is stored as 16bit
p.z = (float)depth * 0.001f;    //converting from millimeters to meters
p.x = (float)(i - m_params.center_x) * depth * m_params.focal_length; //focal_length read using OpenNI function
p.y = (float)(j - m_params.center_y) * depth * m_params.focal_length;

所获得的pointcloud是一个混乱。

the pointcloud obtained is a mess.

如果我做在线处理，直接使用本机XnDepthPixel *数据，结果是完美的，使用之前写的公式。
任何人都可以给我一个关于我的错误的提示？

If i do the "online" processing, using directly the native XnDepthPixel* data, the result is perfect, using the formulas written before.Can anybody give me a "hint" about my fault?

提前感谢

：我也是这个，但它不适用于我，因为XnDepthPixel包含以毫米为单位的真实世界数据

i was following also this resource, but it doesn't work for me, because XnDepthPixel contains the real world data in millimeters

推荐答案

我认为这里可能有问题：

I think there is a possible problem here:

depth = depth_image.at<int>(j,i);  //depth_image is stored as 16bit

如果深度图像真的是 16位，应该是：

If the depth image really is 16-bit, should it really be:

depth = depth_image.at<short>(j,i);  //depth_image is stored as 16bit

因为 int 是32位，而不是16位。

Because int is 32-bits, not 16.

这篇关于cv :: Mat和XnDepthPixel之间的转换*的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持！