depthColor.h

#include "opencv2/highgui/highgui.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/features2d/features2d.hpp"
#include<iostream>
#include <stdio.h>
using namespace std;
cv::Mat GlViewColor(cv::Mat &depth)
{
	static cv::Mat image;
	 image.create(480,640,CV_8UC3);
	unsigned char *depth_mid = (unsigned char*)(image.data);
	int i;
	for (i = 0; i < 480*640; i++) {
		int lb = ((uint16_t *)depth.data)[i] % 256;
		int ub = ((uint16_t *)depth.data)[i] / 256;
		//cout<<"LB"<<lb<<endl;
		//cout<<"UB"<<ub<<endl;
		switch (ub) {
			case 0:
				depth_mid[3*i+2] = 255;
				depth_mid[3*i+1] = 255-lb;
				depth_mid[3*i+0] = 255-lb;
				break;
			case 1:
				depth_mid[3*i+2] = 255;
				depth_mid[3*i+1] = lb;
				depth_mid[3*i+0] = 0;
				break;
			case 2:
				depth_mid[3*i+2] = 255-lb;
				depth_mid[3*i+1] = 255;
				depth_mid[3*i+0] = 0;
				break;
			case 3:
				depth_mid[3*i+2] = 0;
				depth_mid[3*i+1] = 255;
				depth_mid[3*i+0] = lb;
				break;
			case 4:
				depth_mid[3*i+2] = 0;
				depth_mid[3*i+1] = 255-lb;
				depth_mid[3*i+0] = 255;
				break;
			case 5:
				depth_mid[3*i+2] = 0;
				depth_mid[3*i+1] = 0;
				depth_mid[3*i+0] = 255-lb;
				break;
			default:
				depth_mid[3*i+2] = 0;
				depth_mid[3*i+1] = 0;
				depth_mid[3*i+0] = 0;
				break;
		}
	}
	cout<< image<<endl;
	cv::waitKey();
	return image;
}