将rgb深度图像转换为oni文件

我需要从rgb和深度图像生成oni文件。我使用了openni的NiRecordSynthetic样本。它适用于我的深度图像，但当我为RGB图像添加transformImageMD函数时，我会在imageMap（x，y）=imagePixel中出现分割错误。我不知道为什么。

这是我的代码：

void transformDepthMD(Mat FrameDepth,DepthMetaData& depthMD)
{
    DepthMap& depthMap = depthMD.WritableDepthMap();
    for (XnUInt32 y = 0; y < depthMap.YRes(); y++)
    {
        for (XnUInt32 x = 0; x < depthMap.XRes(); x++)
        {
            //Punch vertical cut lines in the depth image
            if ((x % 2) == 0)
            {
                depthMap(x,y) = FrameDepth.at<XnUInt16>(y,x);
            }
        }
    }
}
void transformImageMD(Mat FrameImage,ImageMetaData& imageMD)
{
    RGB24Map& imageMap = imageMD.WritableRGB24Map();
    for (XnUInt32 y = 0; y < imageMD.YRes(); y++)
    {
     for (XnUInt32 x = 0; x <imageMD.XRes(); x++)
      {
            XnRGB24Pixel imagePixel;
            imagePixel.nBlue=FrameImage.at<Vec3b>(y,x)[0];
            imagePixel.nGreen=FrameImage.at<Vec3b>(y,x)[1];
            imagePixel.nRed=FrameImage.at<Vec3b>(y,x)[2];
            imageMap(x,y) = imagePixel;
        }
    }
}
int main(int argc, char* argv[])
{
    XnStatus nRetVal = XN_STATUS_OK;
    nRetVal = xnLogInitFromXmlFile(SAMPLE_XML_PATH);
    if (nRetVal != XN_STATUS_OK)
    {
        printf("Log couldn't be opened: %s. Running without log", xnGetStatusString(nRetVal));
    }
    if (argc < 3)
    {
        printf("usage: %s <inputFile> <outputFile>n", argv[0]);
        return -1;
    }
    const char* strInputFile = argv[1];
    const char* strOutputFile = argv[2];
    Context context;
    nRetVal = context.Init();
    CHECK_RC(nRetVal, "Init");
    // open input file
    Player player;
    nRetVal = context.OpenFileRecording(strInputFile, player);
    CHECK_RC(nRetVal, "Open input file");
    // Get depth node from recording
    DepthGenerator depth;
    nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
    CHECK_RC(nRetVal, "Find depth generator");
    // Create mock node based on depth node from recording
    MockDepthGenerator mockDepth;
    nRetVal = mockDepth.CreateBasedOn(depth);
    CHECK_RC(nRetVal, "Create mock depth node");
    ImageGenerator image;
    nRetVal = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image);
    CHECK_RC(nRetVal, "Find depth generator");
    // Create mock node based on depth node from recording
    MockImageGenerator mockImage;
    nRetVal = mockImage.CreateBasedOn(image);
    CHECK_RC(nRetVal, "Create mock depth node");
    // create recorder
    Recorder recorder;
    nRetVal = recorder.Create(context);
    CHECK_RC(nRetVal, "Create recorder");
    nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, strOutputFile);
    CHECK_RC(nRetVal, "Set recorder destination file");
    // add depth node to recorder
    nRetVal = recorder.AddNodeToRecording(mockDepth);
    CHECK_RC(nRetVal, "Add node to recording");
    nRetVal = recorder.AddNodeToRecording(mockImage);
    CHECK_RC(nRetVal, "Add node to recording");
    nRetVal = player.SetRepeat(FALSE);
    XN_IS_STATUS_OK(nRetVal);
    XnUInt32 nNumFrames = 0;
    nRetVal = player.GetNumFrames(image.GetName(), nNumFrames);
    CHECK_RC(nRetVal, "Get player number of frames");
    DepthMetaData depthMD;
    ImageMetaData imageMD;
    int frameNum = 0;
    String path = "myData";
    while ((nRetVal = depth.WaitAndUpdateData()) != XN_STATUS_EOF)
    {
        ++frameNum;
        CHECK_RC(nRetVal, "Read next frame");
        // Get depth meta data
        depth.GetMetaData(depthMD);
        image.GetMetaData(imageMD);
        nRetVal = depthMD.MakeDataWritable();
        CHECK_RC(nRetVal, "Make depth data writable");
        nRetVal = imageMD.MakeDataWritable();
        CHECK_RC(nRetVal, "Make depth data writable");
        String ficheroActualRGB;
        ficheroActualRGB = path  +"RGB_" + boost::to_string(frameNum) + ".png";
        String ficheroActualDepth = path +"Depth_"+ boost::to_string(frameNum) + ".png";
        Mat matFrameImage = imread(ficheroActualRGB, 1);
        resize(matFrameImage, matFrameImage, Size(640, 480), 0, 0, INTER_CUBIC);
        Mat matFrameDepth = imread(ficheroActualDepth,1);
        resize(matFrameDepth, matFrameDepth, Size(640, 480), 0, 0, INTER_CUBIC);
        transformDepthMD(matFrameDepth,depthMD);
        transformImageMD(matFrameImage,imageMD);
//         Pass the transformed data to the mock depth generator
        nRetVal = mockDepth.SetData(depthMD);
        CHECK_RC(nRetVal, "Set mock node new data");
        nRetVal = mockImage.SetData(imageMD);
        CHECK_RC(nRetVal, "Set mock node new data");
        /* We need to call recorder.Record explicitly because we're not using WaitAndUpdateAll(). */
        nRetVal = recorder.Record();
        CHECK_RC(nRetVal, "Record");
        printf("Recorded: frame %u out of %ur", depthMD.FrameID(), nNumFrames);
    }
    printf("n");
    return 0;
}

谢谢，