OpenCV伪彩色方法： applyColorMap(im_gray, im_color, COLORMAP_HSV); 代码实现：
//将 CV_16UC1 深度图 转换成伪彩色图
Mat gray2rainbow(const Mat& scaledGray, int min, int max)
{
Mat outputRainbow(scaledGray.size(), CV_8UC3); //初始化了一个outputRainbow的彩色图像
unsigned short grayValue;
float tempvalue;
float par = (float)255 / (max - min);
for (int y = 0; y < scaledGray.rows; y++)
for (int x = 0; x < scaledGray.cols; x++)
{
grayValue = scaledGray.at<ushort>(y, x);
if ((grayValue > 0) && (grayValue < min)) //可能会出现找到的min并不是真正的最小值
{
tempvalue = (float)min;
}
else if (grayValue > max) //也可能会出现找到的max并不是真正的最大值
{
tempvalue = 0;
}
else
{
tempvalue = (float)(grayValue - min);
}
tempvalue = tempvalue*par; //为了把深度值规划到(0~255之间)
/*
* color R G B gray
* red 255 0 0 255
* orange 255 127 0 204
* yellow 255 255 0 153
* green 0 255 0 102
* cyan 0 255 255 51
* blue 0 0 255 0
*/
Vec3b& pixel = outputRainbow.at<Vec3b>(y, x);
tempvalue = 256 - tempvalue;
if ((tempvalue <= 0) || (tempvalue >= 255))
{
pixel[0] = 0;
pixel[1] = 0;
pixel[2] = 0;
}
else if (tempvalue <= 51)
{
pixel[0] = 255;
pixel[1] = (unsigned char)(tempvalue * 5);
pixel[2] = 0;
}
else if (tempvalue <= 102)
{
tempvalue -= 51;
pixel[0] = 255 - (unsigned char)(tempvalue * 5);
pixel[1] = 255;
pixel[2] = 0;
}
else if (tempvalue <= 153)
{
tempvalue -= 102;
pixel[0] = 0;
pixel[1] = 255;
pixel[2] = (unsigned char)(tempvalue * 5);
}
else if (tempvalue <= 204)
{
tempvalue -= 153;
pixel[0] = 0;
pixel[1] = 255 - static_cast<unsigned char>(tempvalue * 128.0 / 51 + 0.5);
pixel[2] = 255;
}
else if (tempvalue < 255)
{
tempvalue -= 204;
pixel[0] = 0;
pixel[1] = 127 - static_cast<unsigned char>(tempvalue * 127.0 / 51 + 0.5);
pixel[2] = 255;
}
}
return outputRainbow;
}
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