Currently I have setup this code with OpenNI and OpenCV too show the depth and color frames being captured by my Orbbec Astra S.
The Depth image is however being shown with the closest regions being dark and the further away regions being lighter. How would I swap this around so that the closest points are shown brighter and the further away regions are darker?
Below is my code:
> #include "stdafx.h"
> #include "OpenNI.h"
> #include <iostream>
> #include <iomanip>
> #include <fstream>
> #include <string>
> #include <array>
> // OpenCV Header
> #include <opencv2/core/core.hpp>
> #include <opencv2/imgproc/imgproc.hpp>
> #include <opencv2/highgui/highgui.hpp>
> #include <opencv2/calib3d/calib3d.hpp>
> using namespace std;
> using namespace cv;
> using namespace openni;
> //Recorder
> int main(int argc, char** argv)
> {
> Device device;
> VideoStream DepthStream,ColorStream;
> VideoFrameRef DepthFrameRead,ColorFrameRead;
> const char* deviceURI = openni::ANY_DEVICE;
> if (argc > 1)
> {
> deviceURI = argv[1];
> }
> Status result = STATUS_OK;
> result = OpenNI::initialize();
> result = device.open(deviceURI);
> result = DepthStream.create(device, openni::SENSOR_DEPTH);
> result = DepthStream.start();
> result = ColorStream.create(device, openni::SENSOR_COLOR);
> result = ColorStream.start();
> device.setImageRegistrationMode(ImageRegistrationMode::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
> int framenum = 0;
> Mat frame;
> while (true)
> {
> if (DepthStream.readFrame(&DepthFrameRead) == STATUS_OK)
> {
> cv::Mat cDepthImg(DepthFrameRead.getHeight(), DepthFrameRead.getWidth(),
> CV_16UC1, (void*)DepthFrameRead.getData());
> cv::Mat c8BitDepth;
> cDepthImg.convertTo(c8BitDepth, CV_8U, 255.0 / (8000));
> cv::imshow("Orbbec", c8BitDepth);
> }
> if (ColorStream.readFrame(&ColorFrameRead) == STATUS_OK)
> {
> ColorStream.readFrame(&ColorFrameRead);
> const openni::RGB888Pixel* imageBuffer = (const openni::RGB888Pixel*)ColorFrameRead.getData();
> frame.create(ColorFrameRead.getHeight(), ColorFrameRead.getWidth(), CV_8UC3);
> memcpy(frame.data, imageBuffer, 3 * ColorFrameRead.getHeight()*ColorFrameRead.getWidth() * sizeof(uint8_t));
> cv::cvtColor(frame, frame, CV_BGR2RGB); //this will put colors right
> cv::imshow("frame", frame);
> framenum++;
> }
> if (cvWaitKey(30) >= 0)
> {
> break;
> }
> }
> DepthStream.destroy();
> ColorStream.destroy();
> device.close();
> OpenNI::shutdown();
> return 0;
> }