kinectv2 彩色图与深度图的配准与显示 python实现

前置条件：
1、openni2
2、opencv 要混合openni2 进行编译
注：一定要下载源码自己编译，默认的python-opencv没有openni
可以用 print(cv2.getBuildInformation())进行查看是否有openni模块 应该在videoIO下面
平台：
windows10

import numpy as np
import cv2
from openni import openni2
from openni import _openni2 as c_api

openni2.initialize()     # can also accept the path of the OpenNI redistribution

dev = openni2.Device.open_any()
# 帧同步
dev.set_depth_color_sync_enabled(True)


# 设置注册(registration)格式
dev.is_image_registration_mode_supported(openni2.IMAGE_REGISTRATION_DEPTH_TO_COLOR)
dev.set_image_registration_mode(openni2.IMAGE_REGISTRATION_DEPTH_TO_COLOR)

# 视频流的传输 
#深度流不用显示的话，可以不用这两句
depth_stream = dev.create_depth_stream()
depth_stream.start()
#设置完注册模式后，color_stream就是合并后的信息
color_stream = dev.create_color_stream()
color_stream.start()


while(True):

    colorframe = color_stream.read_frame()
    color_frame_data = colorframe.get_buffer_as_uint8()
    colorimg = np.frombuffer(color_frame_data, dtype=np.uint8)
    colorimg.shape = (424,512,3)

    # img 1080*1920*3
    colorimg = cv2.cvtColor(colorimg,cv2.COLOR_BGR2RGB)
    depth_frame = depth_stream.read_frame()
    depth_frame_data = depth_frame.get_buffer_as_uint16()
    colorimg = cv2.resize(colorimg,(1920,1080))

    cv2.imshow("color", colorimg)
    cv2.waitKey(34)


depth_stream.stop()
openni2.unload()