本文主要是介绍kinect 学习笔记二（深度图像的利用--抠取用户躯体），希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！
今天主要把深度数据和骨骼还有视频数据同步起来。算是上一次的三个的组合吧。期间遇到点白痴的问题整治了一下午：带ID的数据的ID是否准确。而且差点把自己的质疑给发到博客上来，竟然是自己代码的错误。伤心伤心。。。
直接把代码贴出来吧，也许有人觉得贴代码没水平，嗨，给自己留个小版本说不定以后还用得着，而且自信自己代码写的还算是规范，方便后来人嘛。再有一点，那个getTheContour函数画蛇添足了，实际直接利用深度数据的ID就可以抠出任务的区域。
先上实验结果：这是实时图像
然后是深度图像、骨骼图像和抠出的人体区域
这是代码，希望可以帮助到大家，当然，如果有错误欢迎指正：
#include <iostream>
#include <fstream>
#include "math.h"
#include "Windows.h"
#include "MSR_NuiApi.h"
#include "cv.h"
#include "highgui.h" using namespace std;bool tracked[NUI_SKELETON_COUNT]={FALSE};
CvPoint skeletonPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT]={cvPoint(0,0)};
CvPoint colorPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT]={cvPoint(0,0)};void getColorImage(HANDLE &colorEvent, HANDLE &colorStreamHandle, IplImage *colorImage);
void getDepthImage(HANDLE &depthEvent, HANDLE &depthStreamHandle, IplImage *depthImage);
void getSkeletonImage(HANDLE &skeletonEvent, IplImage *skeletonImage, IplImage *colorImage, IplImage *depthImage);
void drawSkeleton(IplImage *image, CvPoint pointSet[], int witchone);
void getTheContour(IplImage *image, int whichone, IplImage *mask);//得到各个人物的轮廓int main()
{IplImage *colorImage = cvCreateImage(cvSize(640, 480), 8, 3);IplImage *depthImage = cvCreateImage(cvSize(320, 240), 8, 3);IplImage *skeletonImage = cvCreateImage(cvSize(320, 240), 8, 3);IplImage *mask = cvCreateImage(cvSize(320, 240), 8, 3);HANDLE colorEvent = CreateEvent( NULL, TRUE, FALSE, NULL );HANDLE depthEvent = CreateEvent( NULL, TRUE, FALSE, NULL );HANDLE skeletonEvent = CreateEvent( NULL, TRUE, FALSE, NULL );HANDLE colorStreamHandle = NULL;HANDLE depthStreamHandle = NULL;HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON); if( hr != S_OK ) { cout<<"NuiInitialize failed"<<endl; return hr; }hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, NULL, 4, colorEvent, &colorStreamHandle);if( hr != S_OK ) { cout<<"Open the color Stream failed"<<endl;NuiShutdown();return hr; }hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_320x240, NULL, 2, depthEvent, &depthStreamHandle);if( hr != S_OK ) { cout<<"Open the depth Stream failed"<<endl;NuiShutdown();return hr; }hr = NuiSkeletonTrackingEnable( skeletonEvent, 0 );//打开骨骼跟踪事件 if( hr != S_OK ) { cout << "NuiSkeletonTrackingEnable failed" << endl; NuiShutdown();return hr; }//HANDLE hEvents[3];//int nEventIdx;//hEvents[0] = colorEvent;//hEvents[1] = depthEvent;//hEvents[2] = skeletonEvent;int a=0;while (1){//刚开始想用WaitForMultipleObjects，但是怎么调都是值显示视频，深度很少显示，骨骼直接不显示。//自己理解不深入，只能临时用WaitForSingleObject这样了。//nEventIdx = WaitForMultipleObjects(sizeof(hEvents)/sizeof(hEvents[0]), hEvents, FALSE, 10);cout << nEventIdx << endl;//switch(nEventIdx)//{//case 0:// //if(WaitForSingleObject(colorEvent, 0)==0)// getColorImage(colorEvent, colorStreamHandle, colorImage);// break;//case 1:// //if(WaitForSingleObject(depthEvent, 0)==0)// getDepthImage(depthEvent, depthStreamHandle, depthImage);// break;//case 2:// //if(WaitForSingleObject(skeletonEvent, 0)==0)// getSkeletonImage(skeletonEvent, skeletonImage);// break;//}if(WaitForSingleObject(colorEvent, 0)==0)getColorImage(colorEvent, colorStreamHandle, colorImage);if(WaitForSingleObject(depthEvent, 0)==0)getDepthImage(depthEvent, depthStreamHandle, depthImage);if(WaitForSingleObject(skeletonEvent, INFINITE)==0)//这里使用INFINITE是为了避免没有激活skeletonEvent而跳过此代码出现colorimage频闪的现象getSkeletonImage(skeletonEvent, skeletonImage, colorImage, depthImage);for (int i=0; i<6; i++){if(tracked[i] == TRUE){cvZero(mask);getTheContour(depthImage, i, mask);tracked[i] = FALSE;break;}}cvShowImage("mask", mask);cvShowImage("colorImage", colorImage);cvShowImage("depthImage", depthImage);cvShowImage("skeletonImage", skeletonImage);if(cvWaitKey(20)==27){cvReleaseImage(&colorImage);cvReleaseImage(&depthImage);cvReleaseImage(&skeletonImage);break;}}NuiShutdown();return 0;
}void getColorImage(HANDLE &colorEvent, HANDLE &colorStreamHandle, IplImage *colorImage)
{const NUI_IMAGE_FRAME *colorFrame = NULL;NuiImageStreamGetNextFrame(colorStreamHandle, 0, &colorFrame);NuiImageBuffer *pTexture = colorFrame->pFrameTexture; KINECT_LOCKED_RECT LockedRect;pTexture->LockRect(0, &LockedRect, NULL, 0); if( LockedRect.Pitch != 0 ) { //cvZero(colorImage);for (int i=0; i<480; i++) { uchar* ptr = (uchar*)(colorImage->imageData+i*colorImage->widthStep); BYTE * pBuffer = (BYTE*)(LockedRect.pBits)+i*LockedRect.Pitch;//每个字节代表一个颜色信息，直接使用BYTE for (int j=0; j<640; j++) { ptr[3*j] = pBuffer[4*j];//内部数据是4个字节，0-1-2是BGR，第4个现在未使用 ptr[3*j+1] = pBuffer[4*j+1]; ptr[3*j+2] = pBuffer[4*j+2]; } } //cvShowImage("colorImage", colorImage);//显示图像//cvWaitKey(1);} else { cout<<"捕捉视频帧时发生错误"<<endl; } NuiImageStreamReleaseFrame( colorStreamHandle, colorFrame );
}void getDepthImage(HANDLE &depthEvent, HANDLE &depthStreamHandle, IplImage *depthImage)
{const NUI_IMAGE_FRAME *depthFrame = NULL;NuiImageStreamGetNextFrame(depthStreamHandle, 0, &depthFrame);NuiImageBuffer *pTexture = depthFrame->pFrameTexture; KINECT_LOCKED_RECT LockedRect;pTexture->LockRect(0, &LockedRect, NULL, 0); RGBQUAD q;//q.rgbBlue = q.rgbGreen = q.rgbRed = 0;//cvZero(depthImage);if( LockedRect.Pitch != 0 ){for (int i=0; i<240; i++){uchar *ptr = (uchar*)(depthImage->imageData+i*depthImage->widthStep);BYTE *buffer = (BYTE*)(LockedRect.pBits)+i*LockedRect.Pitch;USHORT *bufferRun = (USHORT*)buffer;for (int j=0; j<320; j++){int player = bufferRun[j]&7;int data = (bufferRun[j]&0xfff8) >> 3;uchar imageData = 255-(uchar)(256*data/0x0fff);q.rgbBlue = q.rgbGreen = q.rgbRed = 0;switch(player){case 0: q.rgbRed = imageData / 2; q.rgbBlue = imageData / 2; q.rgbGreen = imageData / 2; break; case 1: q.rgbRed = imageData; break; case 2: q.rgbGreen = imageData; break; case 3: q.rgbRed = imageData / 4; q.rgbGreen = q.rgbRed*4; //这里利用乘的方法，而不用原来的方法可以避免不整除的情况q.rgbBlue = q.rgbRed*4; //可以在后面的getTheContour()中配合使用，避免遗漏一些情况break; case 4: q.rgbBlue = imageData / 4; q.rgbRed = q.rgbBlue*4; q.rgbGreen = q.rgbBlue*4; break; case 5: q.rgbGreen = imageData / 4; q.rgbRed = q.rgbGreen*4; q.rgbBlue = q.rgbGreen*4; break; case 6: q.rgbRed = imageData / 2; q.rgbGreen = imageData / 2; q.rgbBlue = q.rgbGreen*2; break; case 7: q.rgbRed = 255 - ( imageData / 2 ); q.rgbGreen = 255 - ( imageData / 2 ); q.rgbBlue = 255 - ( imageData / 2 );}ptr[3*j] = q.rgbBlue;ptr[3*j+1] = q.rgbGreen;ptr[3*j+2] = q.rgbRed;}}//cvShowImage("depthImage", depthImage);//cvWaitKey(1);}else{cout << "捕捉深度图像出现错误" << endl;}NuiImageStreamReleaseFrame(depthStreamHandle, depthFrame);}void getSkeletonImage(HANDLE &skeletonEvent, IplImage *skeletonImage, IplImage *colorImage, IplImage *depthImage)
{/*两者效果竟然不一样。奇怪NUI_SKELETON_FRAME *skeletonFrame = NULL;NUI_SKELETON_FRAME skeletonFrame;*/NUI_SKELETON_FRAME skeletonFrame;bool bFoundSkeleton = false; if(NuiSkeletonGetNextFrame( 0, &skeletonFrame ) == S_OK ) { for( int i = 0 ; i < NUI_SKELETON_COUNT ; i++ ) { if( skeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED ){ bFoundSkeleton = true; //cout << "ok" << endl;break;} } }else{cout << "没有找到合适的骨骼帧" << endl;return; }if( !bFoundSkeleton ) { return; } NuiTransformSmooth(&skeletonFrame,NULL);//平滑骨骼帧,消除抖动 cvZero(skeletonImage); for( int i = 0 ; i < NUI_SKELETON_COUNT ; i++ ) { if( skeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED && skeletonFrame.SkeletonData[i].eSkeletonPositionTrackingState[NUI_SKELETON_POSITION_SHOULDER_CENTER] != NUI_SKELETON_POSITION_NOT_TRACKED) { float fx, fy; for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; j++)//所有的坐标转化为深度图的坐标 { NuiTransformSkeletonToDepthImageF(skeletonFrame.SkeletonData[i].SkeletonPositions[j], &fx, &fy ); skeletonPoint[i][j].x = (int)(fx*320+0.5f); skeletonPoint[i][j].y = (int)(fy*240+0.5f); } for (int j=0; j<NUI_SKELETON_POSITION_COUNT ; j++) { if (skeletonFrame.SkeletonData[i].eSkeletonPositionTrackingState[j] != NUI_SKELETON_POSITION_NOT_TRACKED)//跟踪点一用有三种状态：1没有被跟踪到，2跟踪到，3根据跟踪到的估计到 { LONG colorx, colory;NuiImageGetColorPixelCoordinatesFromDepthPixel(NUI_IMAGE_RESOLUTION_640x480, 0, skeletonPoint[i][j].x, skeletonPoint[i][j].y, 0,&colorx, &colory);colorPoint[i][j].x = int(colorx);colorPoint[i][j].y = int(colory);//存储坐标点cvCircle(colorImage, colorPoint[i][j], 4, cvScalar(0, 255, 255), -1, 8, 0);//cvCircle(depthImage, skeletonPoint[i][j], 3, cvScalar(0, 255, 255), -1, 8, 0);cvCircle(skeletonImage, skeletonPoint[i][j], 3, cvScalar(0, 255, 255), -1, 8, 0);tracked[i] = TRUE;}}drawSkeleton(colorImage, colorPoint[i], i);//drawSkeleton(depthImage, skeletonPoint[i], i);drawSkeleton(skeletonImage, skeletonPoint[i], i);}} //cvShowImage("skeletonImage", skeletonImage); //cvShowImage("skeletsdfonImage", colorImage); //cvWaitKey(1);
}void drawSkeleton(IplImage *image, CvPoint pointSet[], int witchone)
{CvScalar color;switch(witchone)//跟踪不同的人显示不同的颜色{case 0:color = cvScalar(255);break;case 1:color = cvScalar(0,255);break;case 2:color = cvScalar(0, 0, 255);break;case 3:color = cvScalar(255, 255, 0);break;case 4:color = cvScalar(255, 0, 255);break;case 5:color = cvScalar(0, 255, 255);break;}if((pointSet[NUI_SKELETON_POSITION_HEAD].x!=0 || pointSet[NUI_SKELETON_POSITION_HEAD].y!=0) &&(pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x!=0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_HEAD], pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], color, 2);if((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x!=0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y!=0) &&(pointSet[NUI_SKELETON_POSITION_SPINE].x!=0 || pointSet[NUI_SKELETON_POSITION_SPINE].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SPINE], color, 2);if((pointSet[NUI_SKELETON_POSITION_SPINE].x!=0 || pointSet[NUI_SKELETON_POSITION_SPINE].y!=0) &&(pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x!=0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_SPINE], pointSet[NUI_SKELETON_POSITION_HIP_CENTER], color, 2);//左上肢if((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x!=0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y!=0) &&(pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT], color, 2);if((pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT], pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT], color, 2);if((pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT], pointSet[NUI_SKELETON_POSITION_WRIST_LEFT], color, 2);if((pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_HAND_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_HAND_LEFT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_WRIST_LEFT], pointSet[NUI_SKELETON_POSITION_HAND_LEFT], color, 2);//右上肢if((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x!=0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y!=0) &&(pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT], color, 2);if((pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT], pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT], color, 2);if((pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT], pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT], color, 2);if((pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_HAND_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_HAND_RIGHT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT], pointSet[NUI_SKELETON_POSITION_HAND_RIGHT], color, 2);//左下肢if((pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x!=0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y!=0) &&(pointSet[NUI_SKELETON_POSITION_HIP_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_HIP_LEFT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_HIP_CENTER], pointSet[NUI_SKELETON_POSITION_HIP_LEFT], color, 2);if((pointSet[NUI_SKELETON_POSITION_HIP_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_HIP_LEFT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_HIP_LEFT], pointSet[NUI_SKELETON_POSITION_KNEE_LEFT], color, 2);if((pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_KNEE_LEFT], pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT], color, 2);if((pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_FOOT_LEFT].x!=0 || pointSet[NUI_SKELETON_POSITION_FOOT_LEFT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT], pointSet[NUI_SKELETON_POSITION_FOOT_LEFT], color, 2);//右下肢if((pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x!=0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y!=0) &&(pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_HIP_CENTER], pointSet[NUI_SKELETON_POSITION_HIP_RIGHT], color, 2);if((pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_HIP_RIGHT], pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT],color, 2);if((pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT], pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT], color, 2);if((pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].y!=0) &&(pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT].x!=0 || pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT].y!=0))cvLine(image, pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT], pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT], color, 2);
}void getTheContour(IplImage *image, int whichone, IplImage *mask)//根据给定的深度数据的关系（在getDepthImage()中的）确定不同的跟踪目标
{for (int i=0; i<240; i++){uchar *ptr = (uchar*)(image->imageData+i*image->widthStep);uchar *ptrmask = (uchar*)(mask->imageData+i*mask->widthStep);for (int j=0; j<320; j++){if (ptr[3*j]==0 && ptr[3*j+1]==0 && ptr[3*j+2]==0)//都为0的时候予以忽略{ptrmask[3*j]=ptrmask[3*j+1]=ptrmask[3*j+2]=0;}else if(ptr[3*j]==0 && ptr[3*j+1]==0 && ptr[3*j+2]!=0)//ID为1的时候，显示绿色{ptrmask[3*j] = 0;ptrmask[3*j+1] = 255;ptrmask[3*j+2] = 0;}else if (ptr[3*j]==0 && ptr[3*j+1]!=0 && ptr[3*j+2]==0)//ID为2的时候，显示红色{ptrmask[3*j] = 0;ptrmask[3*j+1] = 0;ptrmask[3*j+2] = 255;}else if (ptr[3*j]==ptr[3*j+1] && ptr[3*j]==4*ptr[3*j+2])//ID为3的时候{ptrmask[3*j] = 255;ptrmask[3*j+1] = 255;ptrmask[3*j+2] = 0;}else if (4*ptr[3*j]==ptr[3*j+1] && ptr[3*j+1]==ptr[3*j+2])//ID为4的时候{ptrmask[3*j] = 255;ptrmask[3*j+1] = 0;ptrmask[3*j+2] = 255;}else if (ptr[3*j]==4*ptr[3*j+1] && ptr[3*j]==ptr[3*j+2])//ID为5的时候{ptrmask[3*j] = 0;ptrmask[3*j+1] = 255;ptrmask[3*j+2] = 255;}else if (ptr[3*j]==2*ptr[3*j+1] && ptr[3*j+1]==ptr[3*j+2])//ID为6的时候{ptrmask[3*j] = 255;ptrmask[3*j+1] = 255;ptrmask[3*j+2] = 255;}else if (ptr[3*j]==ptr[3*j+1] && ptr[3*j]==ptr[3*j+2])//ID为7的时候或者ID为0的时候，显示蓝色{ptrmask[3*j] = 255;ptrmask[3*j+1] = 0;ptrmask[3*j+2] = 0;}else{cout <<"如果输出这段代码，说明有遗漏的情况，请查询getTheContour函数" << endl;}}}
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