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How to get RGB and Depth image from Xtion Pro Live?

I have to use OpenCV and OpenNI.

there is no problem when Depth image is executed

but, As I try to use both the RGB and Depth to the problem.

Below is my code

include <opencv\cv.h>

include <opencv\highgui.h>

include <xncppwrapper.h>

using namespace xn;

int main() { XnStatus rc = XN_STATUS_OK; Context g_context; rc = g_context.Init(); DepthGenerator g_depth; rc = g_depth.Create(g_context); DepthMetaData g_depthMD; const XnDepthPixel* ppDepth; xn::ImageGenerator image_gen;

//Set it to VGA maps at 30 FPS XnMapOutputMode mapMode; image_gen.GetMapOutputMode(mapMode);

mapMode.nXRes = XN_VGA_X_RES; mapMode.nYRes = XN_VGA_Y_RES; mapMode.nFPS = 30;

rc = g_depth.SetMapOutputMode(mapMode); IplImage* tempimgrab = cvCreateImage(cvSize(XN_VGA_X_RES, XN_VGA_Y_RES),8,3); IplImage* rgb_img = cvCreateImage(cvSize(XN_VGA_X_RES, XN_VGA_Y_RES), IPL_DEPTH_8U,3);

rc = g_context.StartGeneratingAll(); cvNamedWindow("Depth",1); cvNamedWindow("RGB",2);

while(1) { if(cvWaitKey(1) >= 0) break;

rc = g_context.WaitAnyUpdateAll(); xn::ImageMetaData imageMetaData; image_gen.GetMetaData(imageMetaData); xnOSMemCopy(rgb_img->imageData, imageMetaData.RGB24Data(), rgb_img->imageSize); cvCvtColor(rgb_img, rgb_img, CV_RGB2BGR);

g_depth.GetMetaData(g_depthMD); ppDepth = g_depthMD.Data();

int tempmax = 0, tempmin = 100000;

for(int xx=0; xx < XN_VGA_X_RES*XN_VGA_Y_RES; xx++) { if(ppDepth[xx] > tempmax) tempmax = ppDepth[xx]; if(ppDepth[xx] < tempmin) tempmin = ppDepth[xx]; }

for(int xx=0; xx < XN_VGA_X_RESXN_VGA_Y_RES; xx++) { tempimgrab->imageData[xx3+1] = 255-(unsigned char)((float)ppDepth[xx]/tempmax255); tempimgrab->imageData[xx3+2] = 255-(unsigned char)((float)ppDepth[xx]/tempmax*255);

if(ppDepth[xx] == 0) { tempimgrab->imageData[xx3+1] = 0; tempimgrab->imageData[xx3+2] = 0; } } cvShowImage("RGB image", rgb_img); cvShowImage("Depth", tempimgrab); }

g_context.Shutdown(); cvReleaseImage(&tempimgrab); cvDestroyWindow("Depth"); if(rgb_img != NULL) cvReleaseImage(&rgb_img);

return 0; }

please, I need your help.

How to get RGB and Depth image from Xtion Pro Live?

I have to use OpenCV and OpenNI.

there is no problem when Depth image is executed

but, As I try to use both the RGB and Depth to the problem.

Below is my code

include <opencv\cv.h>

include <opencv\highgui.h>

include <xncppwrapper.h>

using namespace xn;

int main() { XnStatus rc = XN_STATUS_OK; Context g_context; rc = g_context.Init(); DepthGenerator g_depth; rc = g_depth.Create(g_context); DepthMetaData g_depthMD; const XnDepthPixel* ppDepth; xn::ImageGenerator image_gen;

//Set it to VGA maps at 30 FPS XnMapOutputMode mapMode; image_gen.GetMapOutputMode(mapMode);

mapMode.nXRes = XN_VGA_X_RES; mapMode.nYRes = XN_VGA_Y_RES; mapMode.nFPS = 30;

rc = g_depth.SetMapOutputMode(mapMode); IplImage* tempimgrab = cvCreateImage(cvSize(XN_VGA_X_RES, XN_VGA_Y_RES),8,3); IplImage* rgb_img = cvCreateImage(cvSize(XN_VGA_X_RES, XN_VGA_Y_RES), IPL_DEPTH_8U,3);

rc = g_context.StartGeneratingAll(); cvNamedWindow("Depth",1); cvNamedWindow("RGB",2);

while(1) { if(cvWaitKey(1) >= 0) break;

rc = g_context.WaitAnyUpdateAll(); xn::ImageMetaData imageMetaData; image_gen.GetMetaData(imageMetaData); xnOSMemCopy(rgb_img->imageData, imageMetaData.RGB24Data(), rgb_img->imageSize); cvCvtColor(rgb_img, rgb_img, CV_RGB2BGR);

g_depth.GetMetaData(g_depthMD); ppDepth = g_depthMD.Data();

int tempmax = 0, tempmin = 100000;

for(int xx=0; xx < XN_VGA_X_RES*XN_VGA_Y_RES; xx++) { if(ppDepth[xx] > tempmax) tempmax = ppDepth[xx]; if(ppDepth[xx] < tempmin) tempmin = ppDepth[xx]; }

for(int xx=0; xx < XN_VGA_X_RESXN_VGA_Y_RES; xx++) { tempimgrab->imageData[xx3+1] = 255-(unsigned char)((float)ppDepth[xx]/tempmax255); tempimgrab->imageData[xx3+2] = 255-(unsigned char)((float)ppDepth[xx]/tempmax*255);

if(ppDepth[xx] == 0) { tempimgrab->imageData[xx3+1] = 0; tempimgrab->imageData[xx3+2] = 0; } } cvShowImage("RGB image", rgb_img); cvShowImage("Depth", tempimgrab); }

g_context.Shutdown(); cvReleaseImage(&tempimgrab); cvDestroyWindow("Depth"); if(rgb_img != NULL) cvReleaseImage(&rgb_img);

return 0; }

please, I need your help.

click to hide/show revision 3
No.3 Revision

updated 2014-02-10 00:02:08 -0600

Martin Peris gravatar image

How to get RGB and Depth image from Xtion Pro Live?

I have to use OpenCV and OpenNI.

there is no problem when Depth image is executed

but, As I try to use both the RGB and Depth to the problem.

Below is my code

include <opencv\cv.h>

include <opencv\highgui.h>

include <xncppwrapper.h>

#include <opencv\cv.h>
#include <opencv\highgui.h>
#include <XnCppWrapper.h>

using namespace xn;
 
xn;

int main()
{
 XnStatus rc = XN_STATUS_OK;
 Context g_context;
  rc = g_context.Init();
 DepthGenerator g_depth;
 rc = g_depth.Create(g_context);
 DepthMetaData g_depthMD;
 const XnDepthPixel* ppDepth;
 xn::ImageGenerator image_gen;
 
image_gen;

 //Set it to VGA maps at 30 FPS
  XnMapOutputMode mapMode;
 image_gen.GetMapOutputMode(mapMode);
 
image_gen.GetMapOutputMode(mapMode);

 mapMode.nXRes = XN_VGA_X_RES;
 mapMode.nYRes = XN_VGA_Y_RES;
 mapMode.nFPS = 30;
 
30;

 rc = g_depth.SetMapOutputMode(mapMode);
 IplImage* tempimgrab = cvCreateImage(cvSize(XN_VGA_X_RES, XN_VGA_Y_RES),8,3);
  IplImage* rgb_img = cvCreateImage(cvSize(XN_VGA_X_RES, XN_VGA_Y_RES), IPL_DEPTH_8U,3);
 
IPL_DEPTH_8U,3);

 rc = g_context.StartGeneratingAll();
 cvNamedWindow("Depth",1);
 cvNamedWindow("RGB",2);
 
cvNamedWindow("RGB",2);

 while(1)
  {
  if(cvWaitKey(1) >= 0)
   break;
 
break;

  rc = g_context.WaitAnyUpdateAll();
  xn::ImageMetaData imageMetaData;
  image_gen.GetMetaData(imageMetaData);
  xnOSMemCopy(rgb_img->imageData, imageMetaData.RGB24Data(), rgb_img->imageSize);
   cvCvtColor(rgb_img, rgb_img, CV_RGB2BGR);
 
CV_RGB2BGR);

  g_depth.GetMetaData(g_depthMD);
  ppDepth = g_depthMD.Data();
 
g_depthMD.Data();

  int tempmax = 0, tempmin = 100000;
 
100000;

  for(int xx=0; xx < XN_VGA_X_RES*XN_VGA_Y_RES; xx++)
   {
   if(ppDepth[xx] > tempmax) tempmax = ppDepth[xx];
   if(ppDepth[xx] < tempmin) tempmin = ppDepth[xx];
  }
 
}

  for(int xx=0; xx < XN_VGA_X_RESXN_VGA_Y_RES; XN_VGA_X_RES*XN_VGA_Y_RES; xx++)
  {
   tempimgrab->imageData[xx3+1] tempimgrab->imageData[xx*3+1] = 255-(unsigned char)((float)ppDepth[xx]/tempmax255);
          tempimgrab->imageData[xx3+2] char)((float)ppDepth[xx]/tempmax*255);
          tempimgrab->imageData[xx*3+2] = 255-(unsigned char)((float)ppDepth[xx]/tempmax*255);
 
char)((float)ppDepth[xx]/tempmax*255);

   if(ppDepth[xx] == 0) 
   {
    tempimgrab->imageData[xx3+1] tempimgrab->imageData[xx*3+1] = 0;
    tempimgrab->imageData[xx3+2] tempimgrab->imageData[xx*3+2] = 0;
    }
  }
  cvShowImage("RGB image", rgb_img);
  cvShowImage("Depth", tempimgrab);
 }
 
}

 g_context.Shutdown();
 cvReleaseImage(&tempimgrab);
 cvDestroyWindow("Depth");
  if(rgb_img != NULL)
    cvReleaseImage(&rgb_img);
 
cvReleaseImage(&rgb_img);

 return 0;
}
}

please, I need your help.

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