当我尝试将kinect的深度图像与彩色图像对齐时，彩色图像质量很差 [英] Color image having poor quality when I tried to align kinect's depth image with color image

问题描述

您好，

我尝试通过NuiImageGetColorPixelCoordinateFrameFromDepthPixelFrameAtResolution函数将深度图像与彩色图像对齐，但新的彩色图像质量不佳。 这是一个例子： 

I tried to align the depth image with color image by means of NuiImageGetColorPixelCoordinateFrameFromDepthPixelFrameAtResolution function but the new color image doesn't have a good quality. Here's an example: 

这里是代码：

bool CSkeletalViewerApp::Nui_GotDepthAlert( )
{
	NUI_IMAGE_FRAME imageFrame;
       bool processedFrame = true;
        HRESULT hr = m_pNuiSensor->NuiImageStreamGetNextFrame(
        m_pDepthStreamHandle,
        0,
        &imageFrame );

    if ( FAILED( hr ) )
    {
        return false;
    }

	m_depthTimeStamp = imageFrame.liTimeStamp;
    INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT LockedRect;
    pTexture->LockRect( 0, &LockedRect, NULL, 0 );
    if ( 0 != LockedRect.Pitch )
    {
	//memcpy(m_depthD16, LockedRect.pBits, LockedRect.size);

        DWORD frameWidth, frameHeight;
        
        NuiImageResolutionToSize( imageFrame.eResolution, frameWidth, frameHeight );
        
        // draw the bits to the bitmap
        BYTE * rgbrun = m_depthRGBX;
        const USHORT * pBufferRun = (const USHORT *)LockedRect.pBits;

……..
m_pDrawDepth->Draw( m_depthRGBX, frameWidth * frameHeight * g_BytesPerPixel );
USHORT* depth2=(USHORT *)m_depthRGBX;
        m_pNuiSensor->NuiImageGetColorPixelCoordinateFrameFromDepthPixelFrameAtResolution(
        NUI_IMAGE_RESOLUTION_640x480,
        NUI_IMAGE_RESOLUTION_640x480,
        m_depthWidth*m_depthHeight,
        //m_depthD16,
		depth2,
        m_depthWidth*m_depthHeight*2,
        m_colorCoordinates
        );
}
….
}
bool CSkeletalViewerApp::Nui_GotColorAlert( )
{
    NUI_IMAGE_FRAME imageFrame;
    bool processedFrame = true;
		
    HRESULT hr = m_pNuiSensor->NuiImageStreamGetNextFrame( m_pVideoStreamHandle, 0, &imageFrame );

    if ( FAILED( hr ) )
    {
        return false;
    }

	m_colorTimeStamp = imageFrame.liTimeStamp;

    INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT LockedRect;
    pTexture->LockRect( 0, &LockedRect, NULL, 0 );
    if ( LockedRect.Pitch != 0 )
    {
		colorData = (USHORT *)LockedRect.pBits;
				
		m_pDrawColor->Draw( static_cast<BYTE *>(LockedRect.pBits), LockedRect.size );
		
    }
    else
    {
        OutputDebugString( L"Buffer length of received texture is bogus\r\n" );
        processedFrame = false;
    }

    pTexture->UnlockRect( 0 );

	if(m_pVideoStreamHandle!=NULL)
		m_pNuiSensor->NuiImageStreamReleaseFrame( m_pVideoStreamHandle, &imageFrame );


    return processedFrame;
}

DWORD WINAPI CSkeletalViewerApp::Nui_ProcessThread( )
{
......
if(needToDraw)
		{
			int outputIndex = 0;
            LONG* pDest;
            LONG* pSrc;
			// loop over each row and column of the color
            for (LONG y = 0; y < m_colorHeight; ++y)
			{
				pDest = (LONG*) mappedData + (y * 640);

				for (LONG x = 0; x < m_colorWidth; ++x)
				{
					// calculate index into depth array
                    int depthIndex = x/m_colorToDepthDivisor + y/m_colorToDepthDivisor * m_depthWidth;

					//int depthIndex = x + y * 640; 

					// retrieve the depth to color mapping for the current depth pixel
                    LONG colorInDepthX = m_colorCoordinates[depthIndex * 2];
                    LONG colorInDepthY = m_colorCoordinates[depthIndex * 2 + 1];

                    // make sure the depth pixel maps to a valid point in color space
                    if ( colorInDepthX >= 0 && colorInDepthX < m_colorWidth && colorInDepthY >= 0 && colorInDepthY < m_colorHeight )
					{
						// calculate index into color array
                        LONG colorIndex = colorInDepthX + colorInDepthY * m_colorWidth;

                        // set source for copy to the color pixel
                        pSrc  = (LONG*)(rgb1) + colorIndex;	// (LONG *)m_colorRGBX + colorIndex;
					}
				

					// calculate output pixel location
                    pDest = (LONG *)m_outputRGBX + outputIndex++;

                    // write output
                    *pDest = *pSrc;
				}
			}
			IplImage* color = cvCreateImageHeader(cvSize(640, 480), 8, 4);
			cvSetData(color, static_cast<BYTE *>(m_outputRGBX), color->widthStep);
		    Mat m2(color);
		    IplImage iplimg1(m2);
            cvNamedWindow("RGB3",1);
            cvShowImage("RGB3",&iplimg1);
            waitKey(1);
}
.....
}

有人能告诉我这是什么问题吗？

Could someone tell me what is the problem?

谢谢

推荐答案

您正在使用弃用的api。使用坐标映射器。

You are using deprecated api's. Use the coordinate mapper.

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