c++ - Kinect深度分割帧率

Question

我是kinect项目的新手当距离大于 400 毫米时，我正在实现深度阈值

for (UINT y = 0; y < pImg->rows; ++y)
{
    // Get row pointers for Mats
    const USHORT* pDepthRow = depth->ptr<USHORT>(y);

    for (UINT x = 0; x < pImg->cols; ++x)
    {
        USHORT raw_depth = pDepthRow[x];
        SHORT realDepth = NuiDepthPixelToDepth(raw_depth);
        // If depth value is valid, convert and copy it
       if (raw_depth != 65535)
        {
            if(realDepth >400 ) //greater than 400mm
            {
                pImg->at<Vec4b>(y,x)[0] = 255;
                pImg->at<Vec4b>(y,x)[1] = 255;
                pImg->at<Vec4b>(y,x)[2] = 255;
                pImg->at<Vec4b>(y,x)[3] = 255;
            }
            else
            {
                pImg->at<Vec4b>(y,x)[0] = 0;
                pImg->at<Vec4b>(y,x)[1] = 0;
                pImg->at<Vec4b>(y,x)[2] = 0;
                pImg->at<Vec4b>(y,x)[3] = 0;
            }
        }

    }

它似乎得到了正确的结果，但大大降低了帧率。当我想通过使用 cv::inRange 摆脱循环时，但当原始深度为 16U 时，此函数仅支持 8U1C。那我还能用什么来根据实际距离来分割深度呢？

Answer 1

尝试通过存储对像素的引用来提高性能。改变这个:

if (realDepth > 400) //greater than 400mm
{
    pImg->at<Vec4b>(y,x)[0] = 255;
    pImg->at<Vec4b>(y,x)[1] = 255;
    pImg->at<Vec4b>(y,x)[2] = 255;
    pImg->at<Vec4b>(y,x)[3] = 255;
}
else
{
    pImg->at<Vec4b>(y,x)[0] = 0;
    pImg->at<Vec4b>(y,x)[1] = 0;
    pImg->at<Vec4b>(y,x)[2] = 0;
    pImg->at<Vec4b>(y,x)[3] = 0;
}

为此:
(我不知道 T 是什么，因为我不知道 pImg 是什么。T 应该等于 at 方法的返回值。我假设它是 Vec4b。)

T& pixel = pImg->at<Vec4b>(y, x); // probably Vec4b& pixel = ..
if (realDepth > 400) //greater than 400mm
{
    pixel[0] = 255;
    pixel[1] = 255;
    pixel[2] = 255;
    pixel[3] = 255;
}
else
{
    pixel[0] = 0;
    pixel[1] = 0;
    pixel[2] = 0;
    pixel[3] = 0;
}