OPENNI学习实践-利用openni获取红外图像

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

#include <XnCppWrapper.h>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace xn;
using namespace cv;

void CheckOpenNIError(XnStatus eResult,string sStatus)
{
	if(eResult != XN_STATUS_OK)
		cout << sStatus << "Error: " << xnGetStatusString(eResult) << endl;//P53
}

int main()
{
	XnStatus eResult = XN_STATUS_OK;
	DepthMetaData depthMD;
	IRMetaData irData;
	namedWindow("Depth Image");
	namedWindow("IRImage");

	Context mContext;
	eResult = mContext.Init();
	CheckOpenNIError(eResult,"Initialize context");

	DepthGenerator mDepthGenerator;
	eResult = mDepthGenerator.Create(mContext);
	CheckOpenNIError(eResult,"Create depth generator");

	IRGenerator mIRGenerator;
	eResult = mIRGenerator.Create(mContext);
	CheckOpenNIError(eResult,"Create depth generator");

	XnMapOutputMode mapMode;
	mapMode.nXRes = 320;
	mapMode.nYRes = 240;
	mapMode.nXRes = 30;
	eResult = mDepthGenerator.SetMapOutputMode(mapMode);
	
	XnMapOutputMode MyMapMode; 
	MyMapMode.nXRes = 640;  
	MyMapMode.nYRes = 480; 
	MyMapMode.nFPS = 30; 
	mIRGenerator.SetMapOutputMode( MyMapMode );

	eResult = mContext.StartGeneratingAll();

	int flag=0;

	while(true)
	{
		eResult = mContext.WaitAnyUpdateAll();
		if(eResult == XN_STATUS_OK)
		{

			mDepthGenerator.GetMetaData(depthMD);
			Mat cvDepthImage16UC1(depthMD.FullYRes(),depthMD.FullXRes(),CV_16UC1,(char*) depthMD.Data());
			Mat cvDepthImage8UC1;
			cvDepthImage16UC1.convertTo(cvDepthImage8UC1,CV_8UC1,255.0/(depthMD.ZRes()));
			imshow("Depth Image",cvDepthImage8UC1);

			mIRGenerator.GetMetaData(irData);
			Mat irImage16UC1(irData.FullYRes(),irData.FullXRes(),CV_16UC1,(char*) irData.Data());
			Mat irImage8UC1;
			irImage16UC1.convertTo(irImage8UC1,CV_8UC1,255.0/255);
			imshow("IRImage",irImage8UC1);

			waitKey(30);
		}
	}

	mContext.StopGeneratingAll();
	mContext.Shutdown();
	return 0;
}

利用IR这个生产节点获取图像，并显示出来。然后就会发现，手的提取好简单。。