1、SimpleRead 代码
参考 https://www.cnblogs.com/yemeishu/archive/2013/01/11/2856859.html
/*****************************************************************************
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* OpenNI 2.x Alpha *
* Copyright (C) 2012 PrimeSense Ltd. *
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* This file is part of OpenNI. *
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* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
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* http://www.apache.org/licenses/LICENSE-2.0 *
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* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
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#include <stdio.h>
#include <OpenNI.h>
#include "OniSampleUtilities.h"
#define SAMPLE_READ_WAIT_TIMEOUT 2000 //2000ms
using namespace openni;
int main(int argc, char* argv[])
{
Status rc = OpenNI::initialize();
if (rc != STATUS_OK)
{
printf("Initialize failed\n%s\n", OpenNI::getExtendedError());
return 1;
}
Device device;
if (argc < 2)
rc = device.open(ANY_DEVICE);
else
rc = device.open(argv[1]);
if (rc != STATUS_OK)
{
printf("Couldn't open device\n%s\n", OpenNI::getExtendedError());
return 2;
}
VideoStream depth;
if (device.getSensorInfo(SENSOR_DEPTH) != NULL)
{
rc = depth.create(device, SENSOR_DEPTH);
if (rc != STATUS_OK)
{
printf("Couldn't create depth stream\n%s\n", OpenNI::getExtendedError());
return 3;
}
}
rc = depth.start();
if (rc != STATUS_OK)
{
printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
return 4;
}
VideoFrameRef frame;
while (!wasKeyboardHit())
{
int changedStreamDummy;
VideoStream* pStream = &depth;
rc = OpenNI::waitForAnyStream(&pStream, 1, &changedStreamDummy, SAMPLE_READ_WAIT_TIMEOUT);
if (rc != STATUS_OK)
{
printf("Wait failed! (timeout is %d ms)\n%s\n", SAMPLE_READ_WAIT_TIMEOUT, OpenNI::getExtendedError());
continue;
}
rc = depth.readFrame(&frame);
if (rc != STATUS_OK)
{
printf("Read failed!\n%s\n", OpenNI::getExtendedError());
continue;
}
if (frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_1_MM && frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_100_UM)
{
printf("Unexpected frame format\n");
continue;
}
DepthPixel* pDepth = (DepthPixel*)frame.getData();
int middleIndex = (frame.getHeight()+1)*frame.getWidth()/2;
printf("[%08llu] %8d\n", (long long)frame.getTimestamp(), pDepth[middleIndex]);
}
depth.stop();
depth.destroy();
device.close();
OpenNI::shutdown();
return 0;
}