OpenNI2获取华硕XtionProLive深度图和彩色图并用OpenCV显示

使用OpenNI2打开XtionProLive时有个问题，彩色图分辨率不管怎样设置始终是320*240，深度图倒是能够设成640*480，而OpenNI1.x是能够获取640*480的彩色图的。

彩色图

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配准到彩色图后的深度图

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1:1融合图

代码：

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/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函数运行结果

	//OpenNI2图
	VideoFrameRef oniDepthImg, oniColorImg;

	//OpenCV图
	Mat cvDepthImg, cvBGRImg, cvFusionImg;

	//初始化OpenNI2
	rc = OpenNI::initialize();

	//打开Kinect或Xtion设备
	Device device;
	const char * deviceURL = openni::ANY_DEVICE;  //设备名
	rc = device.open(deviceURL);

	//创建并打开深度数据流
	VideoStream oniDepthStream; //深度数据流
	rc = oniDepthStream.create(device, SENSOR_DEPTH); //创建深度数据流
	if( STATUS_OK == rc )
	{
		//设置深度视频模式
		VideoMode modeDepth;
		modeDepth.setResolution(320,240/*640,480*/); //分辨率
		modeDepth.setFps(30); //帧率
		modeDepth.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM); //深度像素格式
		oniDepthStream.setVideoMode(modeDepth);

		oniDepthStream.start(); // 打开深度数据流
		if(STATUS_OK !=  rc)
		{
			cerr << "无法打开深度数据流："<<OpenNI::getExtendedError()<<endl;
			oniDepthStream.destroy();
		}
	}
	else
	{
		cerr << "无法创建深度数据流："<<OpenNI::getExtendedError()<<endl;
	}

	//创建并打开彩色数据流
	VideoStream oniColorStream;  //RGB数据流
	rc = oniColorStream.create(device, SENSOR_COLOR);
	if(STATUS_OK == rc)
	{
		//设置彩色视频模式
		VideoMode modeColor;
		//不知道为什么，彩色图的分辨率不管怎样设置始终都是320*240
		modeColor.setResolution(320,240/*1280,1040*/);//分辨率
		modeColor.setFps(30);//帧率
		modeColor.setPixelFormat(PIXEL_FORMAT_RGB888);

		//设置深度图和彩色图的配准模式
		if(device.isImageRegistrationModeSupported(IMAGE_REGISTRATION_DEPTH_TO_COLOR))
		{
			device.setImageRegistrationMode(IMAGE_REGISTRATION_DEPTH_TO_COLOR); //深度到彩色图配准
		}

		rc = oniColorStream.start(); //打开彩色数据流
		if( STATUS_OK != rc )
		{
			cerr<< "无法打开彩色数据流："<<OpenNI::getExtendedError()<<endl;
			oniColorStream.destroy();
		}
	}
	else
	{
		cerr << "无法创建彩色数据流："<<OpenNI::getExtendedError()<<endl;
	}

	if (!oniDepthStream.isValid() || !oniColorStream.isValid())
	{
		cerr << "彩色或深度数据流不合法"<<endl;
		OpenNI::shutdown();
		return 1;
	}

	namedWindow("depth");
	namedWindow("RGB");
	namedWindow("fusion");

	while(true)
	{
		//读取一帧深度图
		if( STATUS_OK == oniDepthStream.readFrame(&oniDepthImg) )
		{
			Mat cvRawImg16U(oniDepthImg.getHeight(), oniDepthImg.getWidth(), CV_16UC1, (void*)oniDepthImg.getData());
			cvRawImg16U.convertTo(cvDepthImg, CV_8U, 255.0/(oniDepthStream.getMaxPixelValue()));
			flip(cvDepthImg,cvDepthImg,1);//水平翻转
			imshow("depth", cvDepthImg);
		}

		//读取一帧彩色图
		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);//水平翻转
			imshow("RGB", cvBGRImg);
		}

		//融合图
		cvtColor(cvDepthImg,cvFusionImg,CV_GRAY2BGR);
		addWeighted(cvBGRImg, 0.5, cvFusionImg, 0.5, 0, cvFusionImg);
		flip(cvFusionImg,cvFusionImg,1);//水平翻转
		imshow("fusion", cvFusionImg);

		waitKey(30);//没有waitKey不显示图像
	}

	destroyWindow("depth");
	destroyWindow("RGB");
	destroyWindow("fusion");

	oniDepthStream.destroy();
	oniColorStream.destroy();
	device.close();
	OpenNI::shutdown();

	return 0;
}

环境：

XtionProLive。Win7 32位。VS2010，OpenNI2.1.0，OpenCV2.4.4

源代码下载：

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

OpenNI2.1下载：

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

參考：

Kinect+OpenNI学习笔记之2(获取kinect的颜色图像和深度图像)

Kinect+OpenNI学习笔记之4(OpenNI获取的图像结合OpenCV显示)

Kinect开发教程二：OpenNI读取深度图像与彩色图像并显示