Kinect开发：OpenNI读取深度图像与彩色图像并显示

#include <XnCppWrapper.h>  #include "opencv/cv.h"  

#include "opencv/highgui.h"  

using namespace std;  

using namespace cv;  

void CheckOpenNIError( XnStatus result, string status )  

{   

    if( result != XN_STATUS_OK )   

    {

        cerr << status << " Error: " << xnGetStatusString( result ) << endl;  

        TRACE( xnGetStatusString( result )  );

    }

}

void Ckinect_opencvDlg::OnBnClickedButton1()

{

    // TODO: Add your control notification handler code here

    XnStatus result = XN_STATUS_OK;    

    xn::DepthMetaData depthMD;  

    xn::ImageMetaData imageMD;  

    //OpenCV  

    IplImage*  imgDepth16u=cvCreateImage(cvSize(640,480),IPL_DEPTH_16U,1);  

    IplImage*  imgRGB8u=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);  

    IplImage*  depthShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);  

    IplImage*  imageShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);  

    cvNamedWindow("depth",1);  

    cvNamedWindow("image",1);  

    char key=0;  

    //【2】  

    // context   

    xn::Context context;   

    result = context.Init();   

    CheckOpenNIError( result, "initialize context" );    

    // creategenerator    

    xn::DepthGenerator depthGenerator;    

    result = depthGenerator.Create( context );   

    CheckOpenNIError( result, "Create depth generator" );    

    xn::ImageGenerator imageGenerator;  

    result = imageGenerator.Create( context );   

    CheckOpenNIError( result, "Create image generator" );  

    //【3】  

    //map mode    

    XnMapOutputMode mapMode;   

    mapMode.nXRes = 640;    

    mapMode.nYRes = 480;   

    mapMode.nFPS = 30;   

    result = depthGenerator.SetMapOutputMode( mapMode );    

    result = imageGenerator.SetMapOutputMode( mapMode );    

    //【4】  

    // correct view port    

    depthGenerator.GetAlternativeViewPointCap().SetViewPoint( imageGenerator );   

    //【5】  

    //read data  

    result = context.StartGeneratingAll();    

    //【6】  

    result = context.WaitNoneUpdateAll();    

    while( (key!=27) && !(result = context.WaitNoneUpdateAll( ))  )   

    {    

        //get meta data  

        depthGenerator.GetMetaData(depthMD);   

        imageGenerator.GetMetaData(imageMD);  

        //【7】  

        //OpenCV output  

        memcpy(imgDepth16u->imageData,depthMD.Data(),640*480*2);  

        cvConvertScale(imgDepth16u,depthShow,255/4096.0,0);  

        memcpy(imgRGB8u->imageData,imageMD.Data(),640*480*3);  

        cvCvtColor(imgRGB8u,imageShow,CV_RGB2BGR);  

        cvShowImage("depth", depthShow);  

        cvShowImage("image",imageShow);  

        key=cvWaitKey(20);  

    }  

    //destroy  

    cvDestroyWindow("depth");  

    cvDestroyWindow("image");  

    cvReleaseImage(&imgDepth16u);  

    cvReleaseImage(&imgRGB8u);  

    cvReleaseImage(&depthShow);  

    cvReleaseImage(&imageShow);  

    context.StopGeneratingAll();  

    context.Shutdown();       

}

转自 http://blog.csdn.net/chenxin_130/article/details/6696187，以备忘。

转载于:https://www.cnblogs.com/tokushima/archive/2012/12/04/2801723.html