kinect 录制彩色和深度视频
安装
- KinectSDK-v1.8-Setup.exe
- OpenNI-Windows-x86-2.1.0.msi
Qt工程
拷贝 Redist 下内容到 编译的exe所在目录
#include <stdlib.h>
#include <iostream>
#include <conio.h>
#include <string>
#include "OpenNI.h"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#define RESOLUTION 640,480
#define RECORDRESOLUTION 590,440
#define ADRESOLUTION 45,40,590,440
#define FPS 20
#define GRAYTH 10
#define REPAIRERANGE 5
#define COLORTH 10
using namespace std;
using namespace cv;
using namespace openni;
//Openni status
Status result = STATUS_OK;
//open device
Device device;
//OpenNI2 image
VideoFrameRef oniDepthImg;
VideoFrameRef oniColorImg;
//create stream
VideoStream oniDepthStream;
VideoStream oniColorStream;
//set video mode
VideoMode modeDepth;
VideoMode modeColor;
//OpenCV image
cv::Mat cvDepthImg;
cv::Mat cvDepthImg2;
cv::Mat cvColorImg;
cv::Mat cvColorImg2;
//OpenCV adjusted image
cv::Mat cvAdjustDepthImg;
cv::Mat cvAdjustColorImg;
//Resolution
Size se=Size(RESOLUTION);
Size recordse=Size(RECORDRESOLUTION);
void CheckOpenNIError( Status result, string status )
{
if( result != STATUS_OK )
cerr << status << " Error: " << OpenNI::getExtendedError() << endl;
}
void iniOpenNI(void );
void releaseResource(void );
void RemoveNoiseRecord(void );
void RemoveNoise(void );
bool pixelRepaire(int ,int ,int );
bool rangeRepaire(int ,int ,int );
int main( int argc, char** argv )
{
iniOpenNI();
RemoveNoiseRecord();
releaseResource();
return 0;
}
void iniOpenNI()
{
// initialize OpenNI2
result = OpenNI::initialize();
CheckOpenNIError( result, "initialize context" );
//open video device
result = device.open( openni::ANY_DEVICE );
CheckOpenNIError( result, "initialize context" );
//creat depth stream
result = oniDepthStream.create( device, openni::SENSOR_DEPTH );
CheckOpenNIError( result, "initialize context" );
//set depth mode
modeDepth.setResolution( RESOLUTION );
modeDepth.setFps( FPS );
modeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_1_MM );
oniDepthStream.setVideoMode(modeDepth);
// start depth stream
result = oniDepthStream.start();
CheckOpenNIError( result, "initialize context" );
// create color stream
result = oniColorStream.create( device, openni::SENSOR_COLOR );
CheckOpenNIError( result, "initialize context" );
// set color video mode
modeColor.setResolution( RESOLUTION );
modeColor.setFps( FPS );
modeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );
oniColorStream.setVideoMode( modeColor);
// start color stream
result = oniColorStream.start();
CheckOpenNIError( result, "initialize context" );
// set depth and color imge registration mode
if( device.isImageRegistrationModeSupported(IMAGE_REGISTRATION_DEPTH_TO_COLOR ) )
{
cout << "support" << endl;
device.setImageRegistrationMode( IMAGE_REGISTRATION_DEPTH_TO_COLOR );
}
}
void releaseResource()
{
//OpenNI2 destroy
oniDepthStream.destroy();
oniColorStream.destroy();
device.close();
OpenNI::shutdown();
}
void RemoveNoiseRecord()
{
std::cout<<"\t\t\t------RemoveNoiseRecord-------"<<std::endl;
char *DepthFilename = "oringindepthvideo.avi";
char *ColorFilename = "oringincolorvideo.avi";
char *removeDepthFilename = "removedepthvideo.avi";
char *removeColorFilename = "removecolorvideo.avi";
VideoWriter removecolorVideoWriter=VideoWriter(removeColorFilename,CV_FOURCC('X','V','I','D'),FPS,recordse);
VideoWriter removedepthVideoWriter=VideoWriter(removeDepthFilename,CV_FOURCC('X','V','I','D'),FPS,recordse);
VideoWriter colorVideoWriter=VideoWriter(ColorFilename,CV_FOURCC('X','V','I','D'),FPS,recordse);
VideoWriter depthVideoWriter=VideoWriter(DepthFilename,CV_FOURCC('X','V','I','D'),FPS,recordse);
// VideoWriter colorVideoWriter=VideoWriter(ColorFilename,CV_FOURCC('X','V','I','D'),FPS,se);
// VideoWriter depthVideoWriter=VideoWriter(DepthFilename,CV_FOURCC('X','V','I','D'),FPS,se);
namedWindow("after-gray",1);
namedWindow("after-depth",1);
namedWindow("befor-color",1);
namedWindow("befor-depth",1);
while(true)
{
if( oniColorStream.readFrame( &oniColorImg ) == STATUS_OK )
{
// convert data into OpenCV type
cv::Mat cvRGBImg( oniColorImg.getHeight(), oniColorImg.getWidth(), CV_8UC3, (void*)oniColorImg.getData() );
cv::cvtColor( cvRGBImg, cvColorImg2, CV_RGB2BGR );
cvColorImg2=Mat(cvColorImg2,Rect(ADRESOLUTION));
colorVideoWriter.write(cvColorImg2);
cv::imshow("befor-color", cvColorImg2 );
cvtColor(cvRGBImg,cvColorImg,CV_RGB2GRAY);
//colorVideoWriter.write(cvColorImg);
}
if( oniDepthStream.readFrame( &oniDepthImg ) == STATUS_OK )
{
cv::Mat cvRawImg16U( oniDepthImg.getHeight(), oniDepthImg.getWidth(), CV_16UC1, (void*)oniDepthImg.getData() );
cvRawImg16U.convertTo( cvDepthImg, CV_8UC1, 255.0/(oniDepthStream.getMaxPixelValue()));
cv::cvtColor(cvDepthImg,cvDepthImg2,CV_GRAY2BGR);
cvDepthImg2=Mat(cvDepthImg2,Rect(ADRESOLUTION));
depthVideoWriter.write(cvDepthImg2);
cv::imshow( "befor-depth", cvDepthImg2 );
}
cvAdjustDepthImg=Mat(cvDepthImg,Rect(ADRESOLUTION));
cvAdjustColorImg=Mat(cvColorImg,Rect(ADRESOLUTION));
RemoveNoise();
cvtColor(cvAdjustColorImg,cvAdjustColorImg,CV_GRAY2BGR);
cvtColor(cvAdjustDepthImg,cvAdjustDepthImg,CV_GRAY2BGR);
removecolorVideoWriter.write(cvAdjustColorImg);
removedepthVideoWriter.write(cvAdjustDepthImg);
std::cout<<"removecolorVideoWriter"<<std::endl;
std::cout<<"\tremovedepthVideoWriter"<<std::endl;
imshow("after-gray",cvAdjustColorImg);
imshow("after-depth",cvAdjustDepthImg);
int key;
key=waitKey(10);
if(key==27)
{
break;
}
}
removecolorVideoWriter.release ();
removedepthVideoWriter.release ();
colorVideoWriter.release ();
depthVideoWriter.release ();
destroyWindow("after-gray");
destroyWindow("after-depth");
destroyWindow("befor-color");
destroyWindow("befor-depth");
}
void RemoveNoise()
{
clock_t start,finish;
double totaltime=0.0;
start=clock();
for(int j=(cvAdjustDepthImg.rows-1);j>=0;j--)//depthImage.rows
{
const uchar* mj=cvAdjustDepthImg.ptr<uchar>(j);
for(int i=(cvAdjustDepthImg.cols-1);i>=0;i--)//depthImage.cols
{
if(mj[i]<=GRAYTH)
{
uchar colorpixel=cvAdjustColorImg.at<uchar>(j,i);
bool reResult=false;
if(colorpixel<GRAYTH*5)
{
for(int k=1;k<REPAIRERANGE*3;k++)
{
reResult=pixelRepaire(i,j,k);
if(reResult)
break;
}
//go down
if(!reResult)
{
for(int k=1;k<=30;k++)
{
if((j+k)<440)
{
if(cvAdjustDepthImg.at<uchar>(j+k,i)>GRAYTH)
{
cvAdjustDepthImg.at<uchar>(j,i)=cvAdjustDepthImg.at<uchar>(j+k,i);
reResult=true;
break;
}
}
else
{
break;
}
}
}
//go up
if(!reResult)
{
for(int k=1;k<=30;k++)
{
if((j-k)>=0)
{
if(cvAdjustDepthImg.at<uchar>(j-k,i)>GRAYTH)
{
cvAdjustDepthImg.at<uchar>(j,i)=cvAdjustDepthImg.at<uchar>(j-k,i);
reResult=true;
break;
}
}
else
{
break;
}
}
}
}
else
{
for(int k=1;k<30;k++)
{
if((i+k)<590 && !reResult)
{
if(abs(cvAdjustColorImg.at<uchar>(j,i+k)-colorpixel)<=COLORTH && cvAdjustDepthImg.at<uchar>(j,i+k)>GRAYTH)
{
cvAdjustDepthImg.at<uchar>(j,i)=cvAdjustDepthImg.at<uchar>(j,i+k);
reResult=true;
}
}
else
{
break;
}
}
}
if(!reResult)
{
for(int k=1;k<REPAIRERANGE;k++)
{
reResult=pixelRepaire(i,j,k);
if(reResult)
break;
}
}
if(!reResult)
{
for(int k=0;k<REPAIRERANGE*3;k++)
{
reResult=rangeRepaire(i,j,k);
if(reResult)
break;
}
}
}
}
}
finish=clock();
totaltime=(double)(finish-start)/CLOCKS_PER_SEC;
}
bool pixelRepaire(int i,int j,int repaireRange)
{
uchar colorpixel=cvAdjustColorImg.at<uchar>(j,i);
int x=0;
int y=0;
int n=0;
int sum=0;
for(y=j-repaireRange;y<=j+repaireRange;y++)
{
if(y>=0 && y<440)
{
if(y==(j-repaireRange) || y==(j+repaireRange))
{
for(x=i-repaireRange;x<=i+repaireRange;x++)
{
if(x>=0 && x<590)
{
if(abs(cvAdjustColorImg.at<uchar>(y,x)-colorpixel)<=COLORTH && cvAdjustDepthImg.at<uchar>(y,x)>GRAYTH)
{
n++;
sum=sum+cvAdjustDepthImg.at<uchar>(y,x);
}
}
}
}
else
{
x=i-repaireRange;
if(x>=0 && x<590)
{
if(abs(cvAdjustColorImg.at<uchar>(y,x)-colorpixel)<=COLORTH && cvAdjustDepthImg.at<uchar>(y,x)>GRAYTH)
{
n++;
sum=sum+cvAdjustDepthImg.at<uchar>(y,x);
}
}
x=i+repaireRange;
if(x>=0 && x<590)
{
if(abs(cvAdjustColorImg.at<uchar>(y,x)-colorpixel)<=COLORTH && cvAdjustDepthImg.at<uchar>(y,x)>GRAYTH)
{
n++;
sum=sum+cvAdjustDepthImg.at<uchar>(y,x);
}
}
}
}
}
if(n<repaireRange*2)
{return false;}
else
{
cvAdjustDepthImg.at<uchar>(j,i)=(uchar)(sum/n);
return true;
}
}
bool rangeRepaire(int i,int j,int repaireRange)
{
uchar colorpixel=cvAdjustColorImg.at<uchar>(j,i);
int x=0;
int y=0;
int n=0;
int sum=0;
for(y=j-repaireRange;y<=j+repaireRange;y++)
{
if(y>=0 && y<440)
{
for(x=i-repaireRange;x<=i+repaireRange;x++)
{
if(x>=0 && x<590)
{
if(cvAdjustDepthImg.at<uchar>(y,x)>GRAYTH)
{
n++;
sum=sum+cvAdjustDepthImg.at<uchar>(y,x);
}
}
}
}
}
if(n<=repaireRange*2)
{
return false;
}
else
{
cvAdjustDepthImg.at<uchar>(j,i)=(uchar)(sum/n);
return true;
}
}
source code
http://git.oschina.net/yuliyang/kinectRecorder
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