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