【Kinect】5th-Kinect深度图像采集和Opencv差帧法运动目标检测

Kinect深度图像采集和Opencv差帧法运动目标检测

#include <windows.h>  
#include <iostream>   
#include <NuiApi.h>  
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

class FrameSubtractionKinect
{
public:
    void ImageOperation(Mat& depthimage, Mat& frame_0, int& num, int& steadyCount);
};

int main(int argc, char*argv[])//int类型的argc,用来统计程序运行时发送给main函数的命令行参数的个数。
                               //char*类型的argv[],为字符串数组，用来存放指向的字符串参数的指针数组，每一个元素指向一个参数。
{
    Mat image, frame_0;
    int num = 1;
    int steadyCount = 0;
    FrameSubtractionKinect detect;

    image.create(240, 320, CV_8UC1);//灰度图表示深度图像

    //1.初始化NUI,传入Depth
    HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH);
    if (FAILED(hr))
    {
        cout << "NuiInitialize failed" << endl;
        return hr;
    }

    //2.定义事件句柄
    HANDLE nextColorFrameEvent = CreateEvent(NULL,TRUE,FALSE,NULL);
    HANDLE depthStreamHandle = NULL;

    //3.打开KINECT设备的深度图信息通道，用depthStreamHandle保存该流的句柄
    hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_320x240, 0, 2, nextColorFrameEvent, &depthStreamHandle);
    if (FAILED(hr))
    {
        cout << "Could not open color image stream video" << endl;
        NuiShutdown();
        return hr;
    }
    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到pImageFrame
            hr = NuiImageStreamGetNextFrame(depthStreamHandle, 0, &pImageFrame);
            if (FAILED(hr))
            {
                cout << "Could not get depth image" << endl;
                NuiShutdown();
                return -1;
            }

            INuiFrameTexture *pTexture = pImageFrame->pFrameTexture;
            NUI_LOCKED_RECT LockedRect;

            //4.3.提取数据帧到LockedRect,包括两个数据对象（pitch每行字节数，pBits第一个字节地址）
            pTexture->LockRect(0,&LockedRect,NULL,0);  //锁定数据，读数据时，Kinect就不会去修改

            //4.4.确定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
                //每个深度数据是2个字节，pitch以字节为单位的，地址的偏移是按LockedRect.pBits的地址类型偏移

                for (int i = 0; i < image.rows; i++)
                {
                    uchar *ptr = image.ptr<uchar>(i);     //第i行的指针

                    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
                    }
                }
                imshow("depthImage", image);

                detect.ImageOperation(image, frame_0, num, steadyCount);
            }
            else
            {
                cout << "Buffer length of received texture is bogus" << endl;
            }

            //5.处理完解锁
            pTexture->UnlockRect(0);
            //6.释放本帧数据
            NuiImageStreamReleaseFrame(depthStreamHandle,pImageFrame);
        }
        if (cvWaitKey(20) == 27)
            break;
    }
    //Nui关闭
    NuiShutdown();
    return 0;
}

//二差帧法检测运动目标
void FrameSubtractionKinect::ImageOperation(Mat& depthimage, Mat& frame_0, int& num, int& steadyCount)
{
    Mat erodeimage;
    Mat background, foreground, foreground_BW;

    if (num == 1)
    {
        background = depthimage.clone();
        frame_0 = background;
    }
    else
    {
        background = frame_0;
        frame_0 = depthimage.clone();
    }

    absdiff(depthimage, background, foreground);
    erode(foreground, erodeimage, getStructuringElement(MORPH_RECT, Size(7, 7)));
    threshold(erodeimage, foreground_BW, 15, 255, 0);

    //imshow("foreground", foreground);
    //imshow("ErodeImage", erodeimage);
    imshow("foreground_BW", foreground_BW);

    num++;
    if (num > 2000000000) num = 10;
}