開發環境 : Visual studio 2012 、Kinect V1、Win10、OpenCv 2.4.7、Kinect SDK v1.8
平台 : x64
屬性 : VC++目錄 - Include目錄: C:\Program Files\Microsoft SDKs\Kinect\v1.8\inc
C:\opencv\build\include
C:\opencv\build\include\opencv
C:\opencv\build\include\opencv2
-程式庫目錄 : C:\opencv\build\x64\vc11\lib
C:\Program Files\Microsoft SDKs\Kinect\v1.8\lib\amd64
連結器 -其他相依性: opencv_core247d.lib
opencv_imgproc247d.lib
opencv_highgui247d.lib
opencv_ml247d.lib
opencv_video247d.lib
opencv_features2d247d.lib
opencv_calib3d247d.lib
opencv_objdetect247d.lib
opencv_contrib247d.lib
opencv_legacy247d.lib
opencv_flann247d.lib
opencv_nonfree247d.lib
Kinect10.lib
參考網站 : Kinect开发学习笔记
#include <windows.h>
#include <iostream>
#include <stdio.h>
#include <conio.h>
#include <NuiApi.h>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
char ModeSwitch='0';
void openKinect_RGB();
void openKinect_Depth();
void openKinect_RGBandDepth();
int main()
{
while(ModeSwitch!='Q'&& ModeSwitch!='q')
{
cout << endl;
cout << "Welcome to use this program." << endl << endl;
cout << "<< Main Control Menu >>"<< endl;
cout << "Press C to open RGB Camera." << endl;
cout << "Press D to open Depth Camera." << endl;
cout << "Press A to open RGB & Depth Camera." << endl;
cout << "Press Q to quit the program." << endl;
cout << endl;
ModeSwitch=getch();
if(ModeSwitch=='C' ||ModeSwitch=='c')
{
openKinect_RGB();
system("cls");
}
else if(ModeSwitch=='D' ||ModeSwitch=='d')
{
openKinect_Depth();
system("cls");
}
else if(ModeSwitch=='A' ||ModeSwitch=='a')
{
openKinect_RGBandDepth();
system("cls");
}
}
return 0;
}
void openKinect_RGB()
{
Mat image;
image.create(480, 640, CV_8UC3);
//image.create(960, 1280, CV_8UC3);
//1、初始化NUI
HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR);
if (FAILED(hr))
{
cout<<"NuiInitialize failed"<<endl;
return ;
}
//2、定义事件句柄
//创建读取下一帧的信号事件句柄，控制KINECT是否可以开始读取下一帧数据
HANDLE nextColorFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
HANDLE colorStreamHandle = NULL; //保存图像数据流的句柄，用以提取数据
//3、打开KINECT设备的彩色图信息通道，并用colorStreamHandle保存该流的句柄，以便于以后读取
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480,
0, 2, nextColorFrameEvent, &colorStreamHandle);
//hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_1280x960,
// 0, 2, nextColorFrameEvent, &colorStreamHandle);
if( FAILED( hr ) )//判断是否提取正确
{
cout<<"Could not open color image stream video"<<endl;
NuiShutdown();
return ;
}
namedWindow("colorImage", CV_WINDOW_AUTOSIZE);
//4、开始读取彩色图数据
while(1)
{
const NUI_IMAGE_FRAME * pImageFrame = NULL;
//4.1、无限等待新的数据，等到后返回
if (WaitForSingleObject(nextColorFrameEvent, INFINITE)==0)
{
//4.2、从刚才打开数据流的流句柄中得到该帧数据，读取到的数据地址存于pImageFrame
hr = NuiImageStreamGetNextFrame(colorStreamHandle, 0, &pImageFrame);
if (FAILED(hr))
{
cout<<"Could not get color image"<<endl;
NuiShutdown();
return ;
}
INuiFrameTexture * pTexture = pImageFrame->pFrameTexture;
NUI_LOCKED_RECT LockedRect;
//4.3、提取数据帧到LockedRect，它包括两个数据对象：pitch每行字节数，pBits第一个字节地址
//并锁定数据，这样当我们读数据的时候，kinect就不会去修改它
pTexture->LockRect(0, &LockedRect, NULL, 0);
//4.4、确认获得的数据是否有效
if( LockedRect.Pitch != 0 )
{
//4.5、将数据转换为OpenCV的Mat格式
for (int i=0; i<image.rows; i++)
{
uchar *ptr = image.ptr<uchar>(i); //第i行的指针
//每个字节代表一个颜色信息，直接使用uchar
uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
for (int j=0; j<image.cols; 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];
}
}
imshow("colorImage", image); //显示图像
}
else
{
cout<<"Buffer length of received texture is bogus\r\n"<<endl;
}
//5、这帧已经处理完了，所以将其解锁
pTexture->UnlockRect(0);
//6、释放本帧数据，准备迎接下一帧
NuiImageStreamReleaseFrame(colorStreamHandle, pImageFrame );
}
if (cvWaitKey(20) == 27)
{
destroyWindow("colorImage");
break;
}
}
//7、关闭NUI链接
NuiShutdown();
return;
}
void openKinect_Depth()
{
Mat image;
//这里我们用灰度图来表述深度数据，越远的数据越暗。
image.create(480, 640, CV_8UC1);
//1、初始化NUI，注意：这里传入的参数就不一样了，是DEPTH
HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH);
if (FAILED(hr))
{
cout<<"NuiInitialize failed"<<endl;
return ;
}
//2、定义事件句柄
//创建读取下一帧的信号事件句柄，控制KINECT是否可以开始读取下一帧数据
HANDLE nextColorFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
HANDLE depthStreamHandle = NULL;
//3、打开KINECT设备的深度图信息通道，并用depthStreamHandle保存该流的句柄，以便于以后读取
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480,
0, 2, nextColorFrameEvent, &depthStreamHandle);
if( FAILED( hr ) )//判断是否提取正确
{
cout<<"Could not open color image stream video"<<endl;
NuiShutdown();
return ;
}
namedWindow("depthImage", CV_WINDOW_AUTOSIZE);
//4、开始读取深度数据
while(1)
{
const NUI_IMAGE_FRAME * pImageFrame = NULL;
//4.1、无限等待新的数据，等到后返回
if (WaitForSingleObject(nextColorFrameEvent, INFINITE)==0)
{
//4.2、从刚才打开数据流的流句柄中得到该帧数据，读取到的数据地址存于pImageFrame
hr = NuiImageStreamGetNextFrame(depthStreamHandle, 0, &pImageFrame);
if (FAILED(hr))
{
cout<<"Could not get depth image"<<endl;
NuiShutdown();
return ;
}
INuiFrameTexture * pTexture = pImageFrame->pFrameTexture;
NUI_LOCKED_RECT LockedRect;
//4.3、提取数据帧到LockedRect，它包括两个数据对象：pitch每行字节数，pBits第一个字节地址
//并锁定数据，这样当我们读数据的时候，kinect就不会去修改它
pTexture->LockRect(0, &LockedRect, NULL, 0);
//4.4、确认获得的数据是否有效
if( LockedRect.Pitch != 0 )
{
//4.5、将数据转换为OpenCV的Mat格式
for (int i=0; i<image.rows; i++)
{
uchar *ptr = image.ptr<uchar>(i); //第i行的指针
//深度图像数据含有两种格式，这里像素的低12位表示一个深度值，高4位未使用；
//注意这里需要转换，因为每个数据是2个字节，存储的同上面的颜色信息不一样，
uchar *pBufferRun = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
USHORT * pBuffer = (USHORT*) pBufferRun;
for (int j=0; j<image.cols; j++)
{
ptr[j] = 255 - (uchar)(256 * pBuffer[j]/0x0fff); //直接将数据归一化处理
}
}
//標記出中心點
circle(image, Point(320,240), 2, Scalar(0,255,0), -1);
//讀取並輸出中心點之深度值
uchar *ptr_center = image.ptr<uchar>(240);
uchar *pBufferRun = (uchar*)(LockedRect.pBits) + 240 * LockedRect.Pitch;
USHORT * pBuffer = (USHORT*) pBufferRun;
system("cls");
cout << "depth = " << pBuffer[320];
imshow("depthImage", image); //显示图像
}
else
{
cout<<"Buffer length of received texture is bogus\r\n"<<endl;
}
//5、这帧已经处理完了，所以将其解锁
pTexture->UnlockRect(0);
//6、释放本帧数据，准备迎接下一帧
NuiImageStreamReleaseFrame(depthStreamHandle, pImageFrame );
}
if (cvWaitKey(20) == 27)
{
destroyWindow("depthImage");
break;
}
}
//7、关闭NUI链接
NuiShutdown();
}
void openKinect_RGBandDepth()
{
Point center(0,0);
Mat colorImage,depthImage;
colorImage.create(480, 640, CV_8UC3);
depthImage.create(480, 640, CV_8UC1);
HANDLE colorEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
HANDLE depthEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
HANDLE colorStreamHandle = NULL;
HANDLE depthStreamHandle = NULL;
//初始化NUI
HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
if (FAILED(hr))
{
cout<<"NuiInitialize failed"<<endl;
return ;
}
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480,
0, 2, colorEvent, &colorStreamHandle);
if( FAILED( hr ) )//判断是否提取正确
{
cout<<"Open the color Stream failed !"<<endl;
NuiShutdown();
return ;
}
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480,
0, 2, depthEvent, &depthStreamHandle);
if( FAILED( hr ) )//判断是否提取正确
{
cout<<"Open the Depth Stream failed !"<<endl;
NuiShutdown();
return ;
}
while(true)
{
const NUI_IMAGE_FRAME *colorFrame = NULL;
const NUI_IMAGE_FRAME *depthFrame = NULL;
if (WaitForSingleObject(colorEvent, INFINITE)==0 && WaitForSingleObject(depthEvent, INFINITE)==0)
{
NuiImageStreamGetNextFrame(colorStreamHandle, 0, &colorFrame);
INuiFrameTexture *pTexture_color = colorFrame->pFrameTexture;
NuiImageStreamGetNextFrame(depthStreamHandle, 0, &depthFrame);
INuiFrameTexture *pTexture_depth = depthFrame->pFrameTexture;
NUI_LOCKED_RECT LockedRect_color;
pTexture_color->LockRect(0, &LockedRect_color, NULL, 0);
NUI_LOCKED_RECT LockedRect_depth;
pTexture_depth->LockRect(0, &LockedRect_depth, NULL, 0);
//4.4、确认获得的数据是否有效
if( LockedRect_color.Pitch != 0 )
{
//4.5、将数据转换为OpenCV的Mat格式
for (int i=0; i<colorImage.rows; i++)
{
uchar *ptr = colorImage.ptr<uchar>(i); //第i行的指针
//每个字节代表一个颜色信息，直接使用uchar
uchar *pBuffer = (uchar*)(LockedRect_color.pBits) + i * LockedRect_color.Pitch;
for (int j=0; j<colorImage.cols; 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];
}
}
for (int i=0; i<depthImage.rows; i++)
{
uchar *ptr = depthImage.ptr<uchar>(i); //第i行的指针
//深度图像数据含有两种格式，这里像素的低12位表示一个深度值，高4位未使用；
//注意这里需要转换，因为每个数据是2个字节，存储的同上面的颜色信息不一样，
uchar *pBufferRun = (uchar*)(LockedRect_depth.pBits) + i * LockedRect_depth.Pitch;
USHORT * pBuffer = (USHORT*) pBufferRun;
for (int j=0; j<depthImage.cols; j++)
{
ptr[j] = 255 - (uchar)(256 * pBuffer[j]/0x0fff); //直接将数据归一化处理
}
}
imshow("colorImage", colorImage); //显示图像
imshow("depthImage", depthImage); //显示图像
}
else
{
cout<<"Buffer length of received texture is bogus\r\n"<<endl;
}
pTexture_color->UnlockRect(0);
pTexture_depth->UnlockRect(0);
NuiImageStreamReleaseFrame(colorStreamHandle, colorFrame );
NuiImageStreamReleaseFrame(depthStreamHandle, depthFrame );
}
if (cvWaitKey(20) == 27)
{
destroyWindow("colorImage");
destroyWindow("depthImage");
break;
}
}
NuiShutdown();
return;
}
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