OpenNI+OpenCV處理kinect深度圖，獲取手掌骨架圖像
作者：moc062066
網上流行的版本都是用不了的，更改了相應代碼，能運行處結果。發上來大家一起探討探討。//做了一些相應的修改，具體請看代碼。
直接上代碼：
//kinect_palm_demo.cpp
//http://blog.csdn.net/moc062066
//mochen
//2011年9月6日
//OpenCV處理kinect深度圖，獲取手掌骨架圖像
#include<iostream>
#include<fstream>
#include"opencv/cv.h"
#include"opencv/highgui.h"
#include "XnCppWrapper.h"
#pragma comment(lib, "openni.lib")
#pragma comment(lib, "opencv_core220d.lib")
#pragma comment(lib, "opencv_highgui220d.lib")
#pragma comment(lib, "opencv_imgproc220d.lib")
#pragma comment(lib, "opencv_calib3d220d.lib")
#pragma comment(lib, "opencv_features2d220d.lib")
#pragma comment(lib, "opencv_contrib220d.lib")
#pragma comment(lib, "opencv_ml220d.lib")
#pragma comment(lib, "opencv_video220d.lib")
using namespace cv ;
using namespace std ;
static void check_eorror( XnStatus result,string status )
{
if ( result != XN_STATUS_OK )
{
cerr << status <<"error:"<<xnGetStatusString(result)<<endl ;
}
}
int main(int argc, char* argv[])
{
//for opencv Mat
//
Mat
m_srcdepth16u( XN_VGA_Y_RES,XN_VGA_X_RES,CV_16UC1);
Mat
m_depth16u( XN_VGA_Y_RES,XN_VGA_X_RES,CV_16UC1);
Mat
m_middepth8u( XN_VGA_Y_RES,XN_VGA_X_RES,CV_8UC1);
Mat
m_depth8u( XN_VGA_Y_RES,XN_VGA_X_RES,CV_8UC1);
Mat
m_rgb8u( XN_VGA_Y_RES,XN_VGA_X_RES,CV_8UC3);
Mat
m_DepthShow( XN_VGA_Y_RES,XN_VGA_X_RES,CV_8UC1);
Mat
m_srcDepthShow( XN_VGA_Y_RES,XN_VGA_X_RES,CV_8UC1);
// openni variable
//
XnStatus nRet = XN_STATUS_OK ;
char key = 0 ;
xn::Context context ;
nRet = context.Init() ;
check_eorror(nRet,"context.Init" ) ;
XnMapOutputMode mapMode ;
mapMode.nXRes = XN_VGA_X_RES ;
mapMode.nYRes = XN_VGA_Y_RES ;
mapMode.nFPS = 30 ;
xn::DepthGenerator depthGen ;
nRet = depthGen.Create( context ) ;
check_eorror(nRet,"depthGen.Create" ) ;
nRet = depthGen.SetMapOutputMode( mapMode ) ;
check_eorror(nRet,"depthGen.SetMapOutputMode" ) ;
nRet = context.StartGeneratingAll() ;
check_eorror(nRet,"StartGeneratingAll" ) ;
nRet = context.WaitAndUpdateAll() ;
check_eorror(nRet,"WaitAndUpdateAll" ) ;
xn::DepthMetaData depthMD ;
const int sizebuffer = XN_VGA_X_RES*XN_VGA_Y_RES*2;
while ( key != 27 && !( nRet = context.WaitAndUpdateAll()) ) {
depthGen.GetMetaData( depthMD ) ;
memcpy(m_srcdepth16u.data,depthMD.Data(),sizebuffer);
// 首先處理深度爲 0 的點，這種實際上無法測量的點，所以將深度爲 0 的點設成最大深度
//
for( int i = 0; i < XN_VGA_Y_RES; i++) {
for (int j = 0; j< XN_VGA_X_RES; j++) {
unsigned short & temp = m_srcdepth16u.at<unsigned short>(i,j);
if(temp == 0) {
temp = 65535;
}
}
}
// 高斯濾波平滑
Ptr<FilterEngine> f = createGaussianFilter(
m_srcdepth16u.type(),
Size(9,9),
0.85,
0.85
);
f->apply(m_srcdepth16u, m_depth16u);
// 深度圖像二值化，閾值大概是取手掌的厚度， minValue存儲的事距離kinect最近的指尖深度
double minValue, maxValue;
minMaxIdx(m_depth16u, &minValue, &maxValue);
for( int i = 0; i < XN_VGA_Y_RES; i++) {
for (int j = 0; j<XN_VGA_X_RES; j++) {
if(m_depth16u.at<unsigned short>(i,j) > minValue +50) {
m_middepth8u.at<unsigned char>(i,j) =0;
}
else {
m_middepth8u.at<unsigned char>(i,j) = 255;
}
}
}
m_middepth8u.copyTo(m_depth8u);
// 取得手掌輪廓
//
vector<vector<Point>> contours;
findContours(m_middepth8u, contours,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_SIMPLE, Point(0,0));
Scalar color( 255, 0, 0 );
drawContours(m_depth8u, contours, -1, color);
vector<Point> contourMerge;
vector<vector<Point>>::iterator it;
// 將輪廓數據合併到一個數組中 , 並獲得包含此輪廓的最小矩形
//
for (it=contours.begin(); it!=contours.end(); it++) {
vector<Point> ¤tContour = *it;
vector<Point>::iterator itContour;
for (itContour=currentContour.begin();itContour!=currentContour.end(); itContour++) {
contourMerge.push_back(*itContour);
}
}
RotatedRect minRect = minAreaRect(Mat(contourMerge));
Point2f pt[4];
minRect.points(pt);
line(m_depth8u, pt[0], pt[1], color);
line(m_depth8u, pt[1], pt[2], color);
line(m_depth8u, pt[2], pt[3], color);
line(m_depth8u, pt[3], pt[0], color);
// 將上述最小矩形取出，並旋轉到正方向，橫平豎直
Mat rotate8u = Mat(minRect.boundingRect().size(),CV_8UC1);
Mat after_rotate8u =Mat(minRect.boundingRect().size(),CV_8UC1);
getRectSubPix( m_depth8u, minRect.boundingRect().size(),minRect.center, rotate8u);
Point2f rotateCenter = Point2f(
minRect.boundingRect().size().width/2.0 ,
minRect.boundingRect().size().height/2.0
);
Mat rotateM = getRotationMatrix2D(
rotateCenter,
90+minRect.angle, 1
);
warpAffine(
rotate8u,
after_rotate8u,
rotateM,
minRect.boundingRect().size()
);
Mat scale8u = Mat( Size(30, minRect.size.width),CV_8UC1);
getRectSubPix(
after_rotate8u,
Size(minRect.size.height,minRect.size.width),
rotateCenter,
scale8u
);
rotate8u.convertTo(m_DepthShow,CV_8U);
//m_depth8u.convertTo(m_DepthShow,CV_8U);
//
cvNamedWindow("before rotate");
imshow("before rotate",m_DepthShow);
// scale8u.convertTo(m_DepthShow,CV_8U);
//m_depth8u.convertTo(m_DepthShow,CV_8U);
cvNamedWindow("http://blog.csdn.net/moc062066");
// 距離變換，獲取骨架
Mat
m_outdepth32u(scale8u.rows,scale8u.cols,CV_32FC1);
distanceTransform(scale8u, m_outdepth32u, CV_DIST_L2,CV_DIST_MASK_5);
// 顯示距離變換得到結果
int i = 0, j = 0;
float maxDist = 0.0;
for( i = 0; i < scale8u.rows; i++) {
for (j = 0; j<scale8u.cols; j++) {
if(maxDist < m_outdepth32u.at<float>(i,j))
maxDist = m_outdepth32u.at<float>(i,j);
}
}
m_outdepth32u.convertTo(m_DepthShow,CV_8U, 255/maxDist);
imshow("http://blog.csdn.net/moc062066",m_DepthShow);
key = cvWaitKey(330) ;
}// while
context.StopGeneratingAll() ;
context.Shutdown() ;
return 0;
}// end of main
結果：
111222