Linux 使用Ubuntu12.04 LTS和opencv获取与kinect深度图像的距离

我从一个网站上发现，可以通过分配给特定像素的2个字节找到Kinect原始深度视频输出的距离，如此链接所示-。基于此，我编写了一个代码，从Kinect传感器中找出中点的距离

我编译了它并在Ubuntu上运行了代码，它显示了输出。输出显示一些值作为距离。数值约为150->1147。我希望它以毫米为单位显示距离

但我不确定这是对还是错。我提供下面的代码。我的代码是否正常工作，或者是否需要进行一些更改

代码：

---

代码似乎很好。缩放范围为150-1147到0-255的图像，并将其显示为灰度。这将帮助您更好地理解图像。这样做将导致最近的对象为深色，而最远的对象为浅色。这比使用GlViewColor函数要好

    #include <opencv/cv.h>
    #include <opencv/highgui.h>
    #include <stdio.h>
    #include "libfreenect_cv.h"

    int getDist(IplImage *depth){
      int x = depth->width/2;
      int y = depth->height/2;
      printf("width= %d and height %d \n",x,y);
      int d = depth->imageData[x*2+y*640*2+1];
      printf("1st value is %d \n",d);
      d= d << 8;
      d= d+depth->imageData[x*2+y*640*2];
      return d;
    }
    IplImage *GlViewColor(IplImage *depth)
    {
        static IplImage *image = 0;
        if (!image) image = cvCreateImage(cvSize(640,480), 8, 3);
        unsigned char *depth_mid = (unsigned char*)(image->imageData);
        int i;
        for (i = 0; i < 640*480; i++) {
            int lb = ((short *)depth->imageData)[i] % 256;
            int ub = ((short *)depth->imageData)[i] / 256;
            switch (ub) {
                case 0:
                    depth_mid[3*i+2] = 255;
                    depth_mid[3*i+1] = 255-lb;
                    depth_mid[3*i+0] = 255-lb;
                    break;
                case 1:
                    depth_mid[3*i+2] = 255;
                    depth_mid[3*i+1] = lb;
                    depth_mid[3*i+0] = 0;
                    break;
                case 2:
                    depth_mid[3*i+2] = 255-lb;
                    depth_mid[3*i+1] = 255;
                    depth_mid[3*i+0] = 0;
                    break;
                case 3:
                    depth_mid[3*i+2] = 0;
                    depth_mid[3*i+1] = 255;
                    depth_mid[3*i+0] = lb;
                    break;
                case 4:
                    depth_mid[3*i+2] = 0;
                    depth_mid[3*i+1] = 255-lb;
                    depth_mid[3*i+0] = 255;
                    break;
                case 5:
                    depth_mid[3*i+2] = 0;
                    depth_mid[3*i+1] = 0;
                    depth_mid[3*i+0] = 255-lb;
                    break;
                default:
                    depth_mid[3*i+2] = 0;
                    depth_mid[3*i+1] = 0;
                    depth_mid[3*i+0] = 0;
                    break;
            }
        }
        return image;
    }

    int main(int argc, char **argv)
    {
        while (cvWaitKey(100) != 27) {
            IplImage *image = freenect_sync_get_rgb_cv(0);
            if (!image) {
                printf("Error: Kinect not connected?\n");
                return -1;
            }
            cvCvtColor(image, image, CV_RGB2BGR);
            IplImage *depth = freenect_sync_get_depth_cv(0);
            if (!depth) {
                printf("Error: Kinect not connected?\n");
                return -1;
            }
            cvShowImage("RGB", image);
            //int d = getDist(depth);
            printf("value is %d \n",getDist(depth));
            cvShowImage("Depth", GlViewColor(depth));//GlViewColor(depth)

        }
        cvDestroyWindow("RGB");
        cvDestroyWindow("Depth");
        //cvReleaseImage(image);
        //cvReleaseImage(depth);
        return 0;
    }