Kinect V2彩色数据用OpenCV显示

来源：互联网发布：网络位置是什么编辑：程序博客网时间：2024/04/25 21:47
好久木有写OpenCV代码了，查了半天手册才知道缩放函数的使用方法。。。
慢慢来，这次先带来彩色数据的显示，代码托管在Github上（如果无法打开说明还未上传）。
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
// ColorBasic-OpenCV.cpp : 定义控制台应用程序的入口点。
/****************************************************
程序功能:Kinect V2彩色数据用OpenCV显示
开发环境:win32控制台应用程序 x86程序 (程序类型)
VisualStudio 2012 (开发工具)
OpenCV2.4.10 (显示界面库 vc11库, http://guoming.me/opencv)
KinectSDK-v2.0-PublicPreview1409-Setup (Kinect SDK驱动版本, http://guoming.me/kinect2)
Windows 8.1 (操作系统)
博客文章:http://guoming.me/kinectv2-color-opencv
代码地址:https://github.com/guoming0000/KinectV2/tree/master/ColorBasic-OpenCV
 
开发人员:小明
开发时间:2014-10-13~ 2014-10-14
联系方式: i@guoming.me (邮箱，推荐联系方式)
http://guoming.me (网站，体感资讯和知识汇总)
http://weibo.com/guoming0000 (新浪微博，请勿私信)
******************************************************/
#include "stdafx.h"
#include "opencv2/opencv.hpp"
#include <windows.h>
#include <Kinect.h>// Kinect Header files
usingnamespacecv;
// Safe release for interfaces
template<classInterface>
inlinevoidSafeRelease(Interface*&pInterfaceToRelease)
{
if(pInterfaceToRelease!=NULL)
{
pInterfaceToRelease->Release();
pInterfaceToRelease=NULL;
}
}
 
//定义Kinect方法类
classKinect
{
public:
staticconstint        cColorWidth  =1920;
staticconstint        cColorHeight=1080;
Kinect();
~Kinect();
HRESULTInitKinect();//初始化Kinect
voidUpdate();//更新数据
voidProcessColor(RGBQUAD*pBuffer,intnWidth,intnHeight);//处理得到的数据
private:
IKinectSensor*          m_pKinectSensor;// Current Kinect
IColorFrameReader*      m_pColorFrameReader;// Color reader
RGBQUAD*                m_pColorRGBX;
 
};
 
//主函数
intmain()
{
Kinectkinect;
kinect.InitKinect();
while(1)
{
kinect.Update();
if(waitKey(1)>=0)//按下任意键退出
{
break;
}
}
 
return0;
}
 
Kinect::Kinect()
{
m_pKinectSensor=NULL;
m_pColorFrameReader=NULL;
m_pColorRGBX=newRGBQUAD[cColorWidth*cColorHeight];// create heap storage for color pixel data in RGBX format
}
 
Kinect::~Kinect()
{
if(m_pColorRGBX)
{
delete[]m_pColorRGBX;
m_pColorRGBX=NULL;
}
 
SafeRelease(m_pColorFrameReader);// done with color frame reader
if(m_pKinectSensor)
{
m_pKinectSensor->Close();// close the Kinect Sensor
}
SafeRelease(m_pKinectSensor);
}
 
HRESULTKinect::InitKinect()
{
HRESULThr;
 
hr=GetDefaultKinectSensor(&m_pKinectSensor);
if(FAILED(hr))
{
returnhr;
}
 
if(m_pKinectSensor)
{
// Initialize the Kinect and get the color reader
IColorFrameSource*pColorFrameSource=NULL;
 
hr=m_pKinectSensor->Open();
 
if(SUCCEEDED(hr))
{
hr=m_pKinectSensor->get_ColorFrameSource(&pColorFrameSource);
}
 
if(SUCCEEDED(hr))
{
hr=pColorFrameSource->OpenReader(&m_pColorFrameReader);
}
 
SafeRelease(pColorFrameSource);
}
 
if(!m_pKinectSensor||FAILED(hr))
{
printf("NoreadyKinectfound!\n");
returnE_FAIL;
}
 
returnhr;
}
 
voidKinect::Update()
{
if(!m_pColorFrameReader)
{
return;
}
 
IColorFrame*pColorFrame=NULL;
 
HRESULThr=m_pColorFrameReader->AcquireLatestFrame(&pColorFrame);
 
if(SUCCEEDED(hr))
{
IFrameDescription*pFrameDescription=NULL;
intnWidth=0;
intnHeight=0;
ColorImageFormatimageFormat=ColorImageFormat_None;
UINTnBufferSize=0;
RGBQUAD*pBuffer=NULL;
 
if(SUCCEEDED(hr))
{
hr=pColorFrame->get_FrameDescription(&pFrameDescription);
}
 
if(SUCCEEDED(hr))
{
hr=pFrameDescription->get_Width(&nWidth);
}
 
if(SUCCEEDED(hr))
{
hr=pFrameDescription->get_Height(&nHeight);
}
 
if(SUCCEEDED(hr))
{
hr=pColorFrame->get_RawColorImageFormat(&imageFormat);
}
 
if(SUCCEEDED(hr))
{
if(imageFormat==ColorImageFormat_Bgra)
{
hr=pColorFrame->AccessRawUnderlyingBuffer(&nBufferSize,reinterpret_cast<BYTE**>(&pBuffer));
}
elseif(m_pColorRGBX)
{
pBuffer=m_pColorRGBX;
nBufferSize=cColorWidth*cColorHeight*sizeof(RGBQUAD);
hr=pColorFrame->CopyConvertedFrameDataToArray(nBufferSize,reinterpret_cast<BYTE*>(pBuffer),ColorImageFormat_Bgra);            
}
else
{
hr=E_FAIL;
}
}
 
if(SUCCEEDED(hr))
{
ProcessColor(pBuffer,nWidth,nHeight);
}
 
SafeRelease(pFrameDescription);
}
 
SafeRelease(pColorFrame);
}
 
voidKinect::ProcessColor(RGBQUAD*pBuffer,intnWidth,intnHeight)
{
// Make sure we've received valid data
if(pBuffer&&(nWidth==cColorWidth)&&(nHeight==cColorHeight))
{
// Draw the data with OpenCV
MatColorImage(nHeight,nWidth,CV_8UC4,pBuffer);
MatshowImage;
resize(ColorImage,showImage,Size(nWidth/2,nHeight/2));
imshow("ColorImage",showImage);////imshow("ColorImage", ColorImage);
}
}
最终运行效果截图：
0 0