#include <windows.h>
#include <iostream>
#include <NuiApi.h>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
int main(int argc, char *argv[])
{
Mat image;
image.create(480, 640, CV_8UC3);
//1、初始化NUI
HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR);
if (FAILED(hr))
{
cout << "NuiInitialize failed" << endl;
return hr;
}
//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);
if (FAILED(hr))//判断是否提取正确
{
cout << "Could not open color image stream video" << endl;
NuiShutdown();
return hr;
}
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 -1;
}
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)
break;
}
//7、关闭NUI链接
NuiShutdown();
return 0;
}
kinect1获取彩色图
最新推荐文章于 2021-05-14 17:57:33 发布