[OpenNI] .oni File Convert to .avi, and Store RGB Image and Depth Image－宅宅情侶的成長日記

Environment: Window 8.1, OpenCV 2.4.9, OpenNI 1.5.4

這問題我解了好久 Orz...

參照其他人在網路上分享的一些 Code 總是會有一些 Bug 出現

目前還找不到有一版是完整的可以從 .oni 檔轉到 avi 檔並且還能同時儲存 RGB 與 Depth 圖片！

但是我今天終於弄出來了，感動 >< ！

下面是我要跟大家分享的 Code ，還附帶 Slash Rotation XDD

#include < fstream >
#include < iostream >
#include < time.h >

using namespace std;

// OpenCV Header
#include<opencv\cv.h>
#include<opencv\cxcore.h>
#include<opencv\highgui.h>

// OpenNI Header
#include < XnOpenNI.h >
#include < XnTypes.h >
#include < XnLog.h >
#include < XnCppWrapper.h >
#include < XnPropNames.h >

#define mydelay 50

void delay(int m)
{
　clock_t wait = m+ clock();
　while (wait > clock());
}

inline std::string printfstring(const char *message, ...)
{
　static char buf[8*1024];
　va_list va;
　va_start(va, message);
　vsprintf(buf, message, va);
　va_end(va);
　std::string str(buf);
　return str;
}

/// convert depth map to OpenCV
void xdepth2opencv(xn::DepthMetaData &xDepthMap, cv::Mat &im)
{
　int h=xDepthMap.YRes();
　int w=xDepthMap.XRes();
　const cv::Mat tmp(h, w, CV_16U, ( void *)xDepthMap.Data());
　tmp.copyTo(im);
}

/// convert image map to OpenCV
void ximage2opencv(xn::ImageMetaData &xImageMap, cv::Mat &im)
{
　int h=xImageMap.YRes();
　int w=xImageMap.XRes();
　const XnRGB24Pixel * xx=xImageMap.RGB24Data();
　const cv::Mat tmp(h, w, CV_8UC3, ( void *)xx);
　tmp.copyTo(im);
}

int main( int argc, char** argv )
{
　// Initial OpenNI Context 
　xn::Context xContext;
　xContext.Init();

　// Read .oni File
　xn::Player xPlayer;
　xContext.OpenFileRecording("D:\\S15_C13_U10_B1.oni", xPlayer );
　xPlayer.SetRepeat( false );

　xn::ImageGenerator g_image;
　xn::ImageMetaData g_imageMD;
　xn::DepthGenerator g_depth;
　xn::DepthMetaData g_depthMD;
　g_depth.Create( xContext );
　g_image.Create( xContext );

　// get total frame number
　XnUInt32 depthFrames;
　xPlayer.GetNumFrames( g_depth.GetName(), depthFrames);

　std::cout << "Depth Frame: " << depthFrames << std::endl;

　XnMapOutputMode imageMapMode;
　g_image.GetMapOutputMode(imageMapMode);
　int c = imageMapMode.nXRes;
　int r = imageMapMode.nYRes;

　XnUInt32 uFrames;
　xPlayer.GetNumFrames( g_depth.GetName(), uFrames );

　const XnRGB24Pixel* pImageMap;

　CvVideoWriter *vdo = cvCreateVideoWriter("file.avi", CV_FOURCC('P' , 'I' , 'M' , '1'), 30 , cvSize(c,r) , 1);

　xContext.StartGeneratingAll();
　std::cout << "Waiting For Processing ";

　for( unsigned int i = 0; i < uFrames; ++ i )
　{
　　g_depth.WaitAndUpdateData();
　　g_image.WaitAndUpdateData();

　　g_image.GetMetaData(g_imageMD);

　　cv::Mat im;

　　std::string RGBfile = "C:\\Users\\matt-pc\\Desktop\\Photo\\RGB\\" + printfstring("image%05d.png", i);

　　ximage2opencv(g_imageMD, im);
　　IplImage* rgbi = cvCreateImage(cvSize(im.cols,im.rows), IPL_DEPTH_8U, 3);
　　IplImage image_temp = im;
　　cvCopy(&image_temp, rgbi);

　　cv::Mat rgb_image(&image_temp);
　　cv::imshow( "Example2", rgb_image );
　　cvWaitKey(10);
　　cv::imwrite(RGBfile.c_str(), im );
　　cvWriteFrame(vdo, &image_temp);
　　std::string Depthfile = "C:\\Users\\matt-pc\\Desktop\\Photo\\Depth\\" + printfstring("depth%05d.png", i);

　　g_depth.GetMetaData(g_depthMD);
　　cv::Mat dim;
　　xdepth2opencv(g_depthMD, dim);

　　cv::imwrite(Depthfile.c_str(), dim );

　　if ( i % 100 == 0)
　　　std::cout << ".";
　　std::cout << "_\b";
　　delay(mydelay);
　　std::cout << "\\\b";
　　delay(mydelay);
　　std::cout << "|\b";
　　delay(mydelay);
　　std::cout << "/\b";
　　delay(mydelay);
　　i++;
　}
　cvReleaseVideoWriter(&vdo);
　return 0;
}

下面是另外一種寫法，另外還有 resize image 的功能

#include < fstream >
#include < stdlib.h >
#include < iostream >
#include < string >
#include < fstream >

#include < XnCppWrapper.h >
#include "opencv/cv.h"
#include "opencv/highgui.h"

using namespace std;
using namespace cv;

#define WIDTH 640
#define HEIGHT 480
#define PROCESS_WIDTH 320
#define PROCESS_HEIGHT 240
#define ONI_TYPE_DEPTH 0

inline std::string printfstring(const char *message, ...)
{
    static char buf[8*1024];
    va_list va;
    va_start(va, message);
    vsprintf(buf, message, va);
    va_end(va);
    std::string str(buf);
    return str;
}

void CheckOpenNIError( XnStatus result, string status )
{ 
	if( result != XN_STATUS_OK ) 
		cerr << status << " Error: " << xnGetStatusString( result ) << endl;
}

int main( int argc, char** argv )
{
	XnStatus result = XN_STATUS_OK;  
	xn::DepthMetaData depthMD;
	xn::ImageMetaData imageMD;

	//OpenCV
	IplImage*  imgDepth16u=cvCreateImage(cvSize(640,480),IPL_DEPTH_16U,1);
	IplImage* imgRGB8u=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);
	IplImage*  depthShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);
	IplImage* imageShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);
	cvNamedWindow("depth",1);
	cvNamedWindow("image",1);
	char key=0;

	// context 
	xn::Context context; 
	result = context.Init(); 
	CheckOpenNIError( result, "initialize context" );  
	
	const char *csFileName = "C:\\Users\\matt-pc\\Desktop\\Photo\\S15_C13_U10_B1.oni";
	// Read .oni File
	xn::Player xPlayer;
	context.OpenFileRecording(csFileName, xPlayer );
	xPlayer.SetRepeat( false );

	// creategenerator  
	xn::DepthGenerator depthGenerator;  
	result = depthGenerator.Create( context ); 
	CheckOpenNIError( result, "Create depth generator" );  
	xn::ImageGenerator imageGenerator;
	result = imageGenerator.Create( context ); 
	CheckOpenNIError( result, "Create image generator" );

	// correct view port  
	//depthGenerator.GetAlternativeViewPointCap().SetViewPoint( imageGenerator ); 

	CvVideoWriter *vdo = cvCreateVideoWriter("C:\\Users\\matt-pc\\Desktop\\Photo\\file.avi", 0, 30 , cvSize(640,480) , 1);

	//read data
	result = context.StartGeneratingAll();  
	result = context.WaitNoneUpdateAll();  

	int i = 0;
	while((key!=27) && !(result = context.WaitNoneUpdateAll()) )
	{
		//get meta data
		depthGenerator.GetMetaData(depthMD); 
		imageGenerator.GetMetaData(imageMD);

		std::string RGBfile = "C:\\Users\\matt-pc\\Desktop\\Photo\\RGB\\" + printfstring("image%05d.png", i);
		std::string Depthfile = "C:\\Users\\matt-pc\\Desktop\\Photo\\Depth\\" +  printfstring("depth%05d.png", i);
		
		//OpenCV output
		memcpy(imgDepth16u->imageData,depthMD.Data(),640*480*2);
		cvConvertScale(imgDepth16u,depthShow,255/4096.0,0);
		memcpy(imgRGB8u->imageData,imageMD.Data(),640*480*3);
		cvCvtColor(imgRGB8u,imageShow,CV_RGB2BGR);

		//IplImage *srcImg = NULL;
		//IplImage *dstImg = NULL;

		//dstImg = cvCreateImage(cvSize(imageShow->width/2,imageShow->height/2),imageShow->depth,3);
		//cvResize(imageShow, dstImg, CV_INTER_LINEAR);
		//cvShowImage("Raw_image",imageShow);
		//cvShowImage("Resize_image", dstImg);
		cvShowImage("RGB Image", imageShow);
		cvShowImage("Depth Image", depthShow);
		//cv::imwrite(RGBfile.c_str(), imageShow );
		//cv::imwrite(Depthfile.c_str(), depthShow );
		key=cvWaitKey(20);
		
		i++;
		cvWriteFrame(vdo, imageShow);

	}
}