生成Openni使用的oni数据集文件

本程序用于生成oni文件，oni文件是openni录制的用于保存支持openni驱动的设备实时录制的数据，比如RGBD数据的数据集文件。
相关参考代码如下：
OpenNI/OpenNI

main.cpp

#include <iostream>
#include <string>
#include "XnCppWrapper.h"
#include "XnOpenNI.h"

#include "opencv2/opencv.hpp"

using namespace std;
using namespace xn;


vector<vector<string>>  readSpaceSeparatedText(string filepath){
    //打开文件
    std::cout<<"开始读入文件..."<<std::endl;
    ifstream file(filepath);
    if (!file) {
        cerr << "fail to open file" << endl;
        exit(1);
    }

    vector<vector<string>> file_content;    //存储每个数据的数据结构
    string file_line;

    while (std::getline(file, file_line)) {    //读取每一行数据
        vector<string> file_content_line;    //存储分割之后每一行的四个数据
        stringstream ss;    //利用内存流进行每行数据分割
        string each_elem;
        ss << file_line;

        while (ss >> each_elem) {
            file_content_line.push_back(each_elem);
        }

        file_content.emplace_back(file_content_line);    //数据组装
    };
    return file_content;
}

int CheckError(XnStatus nRetVal,char* what){
    if(nRetVal != XN_STATUS_OK){
        printf("%s failed: %s \n",what,xnGetStatusString(nRetVal));
        return 1;
        exit(-1);
    }
    return 0;
}

//#define CHECK_RC(rc,what)
//    if (rc != XN_STATUS_ok){
//        printf("%s failed:\n",what xnGetStatusString(rc));
//        return rc;
//    }

int main() {
    vector<vector<string>> associations=readSpaceSeparatedText("/home/atom/RobotProjects/dyson_dataset/association.txt");
    XnStatus eResult = XN_STATUS_OK;    //标示模块工作状态的属性值
    //创建context上下文对象
    xn::Context mContext;
    eResult = mContext.Init();
    CheckError(eResult,"Init");

    //创建player
    Player player;  //创建player
    eResult = mContext.OpenFileRecording("/media/atom/0B8B-0DB4/usher.oni", player);  // we use existence .oni file to simulate a oni context environment.
    CheckError(eResult, "Open input file");

    //find existing node
    DepthGenerator depth;
    ImageGenerator color;
    eResult = mContext.FindExistingNode(XN_NODE_TYPE_IMAGE, color);
    CheckError(eResult, "Find color generator");

    eResult = mContext.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
    CheckError(eResult, "Find depth generator");


    //create Map generator mode
    XnMapOutputMode mapMode;
    mapMode.nXRes = 640;
    mapMode.nYRes = 480;
    mapMode.nFPS = 30;
//    DepthGenerator mDepthGenerator;
//    eResult=mDepthGenerator.Create(mContext);
//    CheckError(eResult,"depth generator");
//    cout<<"nihao2"<<endl;
//    eResult = mContext.FindExistingNode(XN_NODE_TYPE_DEPTH, mDepthGenerator);
//    CheckError(eResult,"find existing depth node");
//    cout<<"nihao2.5"<<endl;
//    eResult=mDepthGenerator.SetMapOutputMode(mapMode);
//    cout<<"Nihao3"<<endl;
//    CheckError(eResult,"set depth generator mode");
//
//    ImageGenerator mImageGenerator;
//    eResult=mImageGenerator.Create(mContext);
//    CheckError(eResult,"rgb generator");
//    eResult=mImageGenerator.SetMapOutputMode(mapMode);
//    CheckError(eResult,"set rgb generator mode");

    MockDepthGenerator mDepthGenerator;
//    eResult=mDepthGenerator.Create(mContext);
    CheckError(eResult,"mock depth generator");
    eResult=mDepthGenerator.CreateBasedOn(depth);
    eResult=mDepthGenerator.SetMapOutputMode(mapMode);
    CheckError(eResult,"set depth generator mode");
    MockImageGenerator mImageGenerator;
//    eResult=mImageGenerator.Create(mContext);
    eResult=mImageGenerator.CreateBasedOn(color);
    CheckError(eResult,"mock rgb generator");
    eResult=mImageGenerator.SetMapOutputMode(mapMode);
    CheckError(eResult,"set rgb generator mode");

    //创建recorder
    xn::Recorder mRecorder;
    mRecorder.Create(mContext);
    mRecorder.SetDestination(XN_RECORD_MEDIUM_FILE,"sample.oni");
//
    //add node to recording
    eResult = mRecorder.AddNodeToRecording(mDepthGenerator);   //向recorder节点添加监听节点
    CheckError(eResult, "Add node to recording");
    eResult = mRecorder.AddNodeToRecording(mImageGenerator);
    CheckError(eResult, "Add node to recording");


//    int frame_num=associations.size();
    int frame_num=2;
    for (int i = 0; i < frame_num;++i) {
        cv::Mat depth_img = cv::imread(associations[i][3], CV_LOAD_IMAGE_UNCHANGED);
//        depth_img.convertTo(depth_img, CV_16U);     //读入depth成为depth_img
//        cout<<depth_img.type()<<endl;

        cv::Mat color_img = cv::imread(associations[i][1], CV_LOAD_IMAGE_UNCHANGED);
//        color_img.convertTo(color_img, CV_8UC3);    //读入rgb成为color_img
//        cout<<color_img.type()<<endl;

        int64_t ts=stol(associations[i][0]);
//        cout<<ts<<endl;
        //depth
        DepthMetaData depthMD;  //创建depth元数据
        XnUInt32& di = depthMD.FrameID();   //创建一个FrameID的引用
        di = i;                     // set frame id.
        XnUInt64& dt = depthMD.Timestamp();     //创建一个Timestamp的引用
        dt = ts;             // set a proper timestamp.

        depthMD.AllocateData(depth_img.cols, depth_img.rows);
        DepthMap& depthMap = depthMD.WritableDepthMap();
        for (XnUInt32 y = 0; y < depthMap.YRes(); y++)
        {
            for (XnUInt32 x = 0; x < depthMap.XRes(); x++)
            {
                depthMap(x, y) = depth_img.at<ushort>(y, x);
            }
        }
        eResult = mDepthGenerator.SetData(depthMD);
        CheckError(eResult, "Set mock node new data");

        //color
        ImageMetaData colorMD;
        XnUInt32& ci = colorMD.FrameID();
        ci = i;
        XnUInt64& ct = colorMD.Timestamp();
        ct = ts;

        colorMD.AllocateData(color_img.cols, color_img.rows, XN_PIXEL_FORMAT_RGB24);
        RGB24Map& imageMap = colorMD.WritableRGB24Map();
        for (XnUInt32 y = 0; y < imageMap.YRes(); y++)
        {
            for (XnUInt32 x = 0; x < imageMap.XRes(); x++)
            {
                cv::Vec3b intensity = color_img.at<cv::Vec3b>(y, x);
                imageMap(x, y).nBlue = (XnUInt8)intensity.val[0];
                imageMap(x, y).nGreen = (XnUInt8)intensity.val[1];
                imageMap(x, y).nRed = (XnUInt8)intensity.val[2];
            }
        }
        eResult = mImageGenerator.SetData(colorMD);
        CheckError(eResult, "Set mock node new data");


        mRecorder.Record();
        printf("Recorded: frame %u out of %u\r\n", depthMD.FrameID(), frame_num);

    }






    std::cout << "Hello, World!" << std::endl;
    return 0;
}