一、SimpleRead 代码分析

一、SimpleRead 代码分析

1.此代码为声明，没有用

/*****************************************************************************
*                                                                            *
*  OpenNI 2.x Alpha                                                          *
*  Copyright (C) 2012 PrimeSense Ltd.                                        *
*                                                                            *
*  This file is part of OpenNI.                                              *
*                                                                            *
*  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                                   *
*                                                                            *
*      http://www.apache.org/licenses/LICENSE-2.0                            *
*                                                                            *
*  Unless required by applicable law or agreed to in writing, software       *
*  distributed under the License is distributed on an "AS IS" BASIS,         *
*  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  *
*  See the License for the specific language governing permissions and       *
*  limitations under the License.                                            *
*                                                                            *
*****************************************************************************/

2.头文件

#include <stdio.h>
#include <OpenNI.h>

#include "OniSampleUtilities.h"

#define SAMPLE_READ_WAIT_TIMEOUT 2000 //2000ms

using namespace openni;

3.初始化

int main(int argc, char* argv[])
{
	Status rc = OpenNI::initialize();
	if (rc != STATUS_OK)
	{
		printf("Initialize failed\n%s\n", OpenNI::getExtendedError());
		return 1;
	}

4.查找设备，并打开

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;
	}

5. 创建并打开深度数据流

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;
	}

6.读取数据流信息

并保存在VideoFrameRef中

显示深度信息

 

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]);
	}

 6.2 另一种

// 循环读取数据流信息并保存在VideoFrameRef中
    openni::VideoFrameRef frameDepth;
    openni::VideoFrameRef frameColor;
    for( int i = 0; i < 1000; ++ i )
    {
        // 读取数据流
        streamDepth.readFrame( &frameDepth );
        streamColor.readFrame( &frameColor );

        // 获取data array
        const openni::DepthPixel* pDepth
            = (const openni::DepthPixel*)frameDepth.getData();
        const openni::RGB888Pixel* pColor
            = (const openni::RGB888Pixel*)frameColor.getData();

        // 显示深度信息和对应的彩色R、G、B数值
        int idx = frameDepth.getWidth() * ( frameDepth.getHeight() + 1 ) / 2;
        std::cout  << pDepth[idx]  << "( "
            << (int)pColor[idx].r << ","
            << (int)pColor[idx].g << ","
            << (int)pColor[idx].b << ")"
            << std::endl;
    }

 7.关闭，结束

 （1）当结束使用数据时，首先关闭、销毁数据流：streamDepth.destroy();

 （2）接着关闭设备： devAnyDevice.close();

 （3）最后关闭OpenNI：  openni::OpenNI::shutdown();

depth.stop();
	depth.destroy();
	device.close();
	OpenNI::shutdown();

	return 0;
}