Kinect for Windows 实践笔记No.2 深度图像显示

#include "stdafx.h"
#include <iostream>
#include "Windows.h"
#include "NuiApi.h"
#include "cv.h"
#include "highgui.h"

using namespace std;

RGBQUAD Nui_ShortToQuad_Depth( USHORT s )//<span style="background-color: rgb(255, 255, 255); ">//该函数我是调用的SDK自带例子的函数。</span>

{
	USHORT RealDepth = (s & 0xfff8) >> 3;//提取距离信息
	USHORT Player =  s & 7 ;//提取ID信息

	//16bit的信息，其中最低3位是ID（所捕捉到的人的ID），剩下的13位才是信息

	BYTE l = 255 - (BYTE)(256*RealDepth/0x0fff);//因为提取的信息时距离信息，这里归一化为0-255。

	RGBQUAD q;
	q.rgbRed = q.rgbBlue = q.rgbGreen = 0;

	switch( Player )
	{
	case 0:
		q.rgbRed = l / 2;
		q.rgbBlue = l / 2;
		q.rgbGreen = l / 2;
		break;
	case 1:
		q.rgbRed = l;
		break;
	case 2:
		q.rgbGreen = l;
		break;
	case 3:
		q.rgbRed = l / 4;
		q.rgbGreen = l;
		q.rgbBlue = l;
		break;
	case 4:
		q.rgbRed = l;
		q.rgbGreen = l;
		q.rgbBlue = l / 4;
		break;
	case 5:
		q.rgbRed = l;
		q.rgbGreen = l / 4;
		q.rgbBlue = l;
		break;
	case 6:
		q.rgbRed = l / 2;
		q.rgbGreen = l / 2;
		q.rgbBlue = l;
		break;
	case 7:
		q.rgbRed = 255 - ( l / 2 );
		q.rgbGreen = 255 - ( l / 2 );
		q.rgbBlue = 255 - ( l / 2 );
	}

	return q;
}

int main(int argc,char * argv[])
{
	IplImage *depthIndexImage=NULL;
	depthIndexImage = cvCreateImage(cvSize(320, 240), 8, 3);

	//初始化NUI
	HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX );
	if( hr != S_OK )
	{
		cout<<"NuiInitialize failed"<<endl;
		return hr;
	}
	//打开KINECT设备的彩色图信息通道
	HANDLE h1 = CreateEvent( NULL, TRUE, FALSE, NULL );
	HANDLE h2 = NULL;

	hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,NUI_IMAGE_RESOLUTION_320x240,0,2,h1,&h2);//这里根据文档信息，当初始化是NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX时，分辨率只能是320*240或者80*60

	if( FAILED( hr ) )
	{
		cout<<"Could not open color image stream video"<<endl;
		NuiShutdown();
		return hr;
	}

	while(1)
	{
		const NUI_IMAGE_FRAME * pImageFrame = NULL;

		if (WaitForSingleObject(h1, INFINITE)==0)
		{
			NuiImageStreamGetNextFrame(h2, 0, &pImageFrame);
			INuiFrameTexture *pTexture = pImageFrame->pFrameTexture;
			NUI_LOCKED_RECT LockedRect;
			pTexture->LockRect(0, &LockedRect, NULL, 0);
			if( LockedRect.Pitch != 0 )
			{
				cvZero(depthIndexImage);
				for (int i=0; i<240; i++)
				{
					uchar* ptr = (uchar*)(depthIndexImage->imageData+i*depthIndexImage->widthStep);
					BYTE * pBuffer = (BYTE *)(LockedRect.pBits)+i*LockedRect.Pitch;
					USHORT * pBufferRun = (USHORT*) pBuffer;//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，这里是2个字节一个信息，不能再用BYTE，转化为USHORT
					for (int j=0; j<320; j++)
					{
						RGBQUAD rgb = Nui_ShortToQuad_Depth(pBufferRun[j]);//调用函数进行转化
						ptr[3*j] = rgb.rgbBlue;
						ptr[3*j+1] = rgb.rgbGreen;
						ptr[3*j+2] = rgb.rgbRed;
					}
				}

				cvShowImage("depthIndexImage", depthIndexImage);
			}
			else
			{
				cout<<"Buffer length of received texture is bogus\r\n"<<endl;
			}
			//释放本帧数据，准备迎接下一帧
			NuiImageStreamReleaseFrame( h2, pImageFrame );
		}

		if (cvWaitKey(30) == 27)
			break;
	}
	//关闭NUI链接
	NuiShutdown();
	return 0;
}