注意点:
1、参考的文章是:
Kinect2.0相机标定_framesourcetypes-CSDN博客
2、文章在运行时 报错,已完成代码修改,
在出现C4703报错时
参考文章:错误C4703:使用了可能未初始化的本地指针变量“m”_严重性代码说明项目文件行禁止显示状态 错误c4703使用了可能未初始化的本-CSDN博客
解决方法
打开项目属性—C/C+±----常规-----SDL检查-----否
修改后代码
#include "stdafx.h"
#include "kinect.h"
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2\opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace cv;
using namespace std;
// 安全释放指针
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
if (pInterfaceToRelease != NULL)
{
pInterfaceToRelease->Release();
pInterfaceToRelease = NULL;
}
}
int main()
{
// 获取Kinect设备
IKinectSensor* m_pKinectSensor;
HRESULT hr;
hr = GetDefaultKinectSensor(&m_pKinectSensor);
if (FAILED(hr))
{
return hr;
}
IMultiSourceFrameReader* m_pMultiFrameReader;
if (m_pKinectSensor)
{
hr = m_pKinectSensor->Open();
if (SUCCEEDED(hr))
{
// 获取多数据源到读取器
hr = m_pKinectSensor->OpenMultiSourceFrameReader(
FrameSourceTypes::FrameSourceTypes_Color |
FrameSourceTypes::FrameSourceTypes_Infrared |
FrameSourceTypes::FrameSourceTypes_Depth,
&m_pMultiFrameReader);
}
}
if (!m_pKinectSensor || FAILED(hr))
{
return E_FAIL;
}
// 三个数据帧及引用
IDepthFrameReference* m_pDepthFrameReference;
IColorFrameReference* m_pColorFrameReference;
IInfraredFrameReference* m_pInfraredFrameReference;
IInfraredFrame* m_pInfraredFrame;
IDepthFrame* m_pDepthFrame;
IColorFrame* m_pColorFrame;
// 三个图片格式
Mat i_rgb(1080, 1920, CV_8UC4); //注意:这里必须为4通道的图,Kinect的数据只能以Bgra格式传出
Mat i_depth(424, 512, CV_8UC1);
Mat i_src_depth(424, 512, CV_16UC1);
Mat i_ir(424, 512, CV_16UC1);
UINT16 *depthData = new UINT16[424 * 512];
IMultiSourceFrame* m_pMultiFrame = nullptr;
while (true)
{
// 获取新的一个多源数据帧
hr = m_pMultiFrameReader->AcquireLatestFrame(&m_pMultiFrame);
if (FAILED(hr) || !m_pMultiFrame)
{
//cout << "!!!" << endl;
continue;
}
// 从多源数据帧中分离出彩色数据,深度数据和红外数据
if (SUCCEEDED(hr))
hr = m_pMultiFrame->get_ColorFrameReference(&m_pColorFrameReference);
if (SUCCEEDED(hr))
hr = m_pColorFrameReference->AcquireFrame(&m_pColorFrame);
if (SUCCEEDED(hr))
hr = m_pMultiFrame->get_DepthFrameReference(&m_pDepthFrameReference);
if (SUCCEEDED(hr))
hr = m_pDepthFrameReference->AcquireFrame(&m_pDepthFrame);
if (SUCCEEDED(hr))
hr = m_pMultiFrame->get_InfraredFrameReference(&m_pInfraredFrameReference);
if (SUCCEEDED(hr))
hr = m_pInfraredFrameReference->AcquireFrame(&m_pInfraredFrame);
// color拷贝到图片中
UINT nColorBufferSize = 1920 * 1080 * 4;
if (SUCCEEDED(hr))
hr = m_pColorFrame->CopyConvertedFrameDataToArray(nColorBufferSize, reinterpret_cast<BYTE*>(i_rgb.data), ColorImageFormat::ColorImageFormat_Bgra);
// depth拷贝到图片中
if (SUCCEEDED(hr))
{
hr = m_pDepthFrame->CopyFrameDataToArray(424 * 512, depthData);
//for (int i = 0; i < 512 * 424; i++)
//{
// // 0-255深度图,为了显示明显,只取深度数据的低8位
// BYTE intensity = static_cast<BYTE>(depthData[i] % 256);
// reinterpret_cast<BYTE*>(i_depth.data)[i] = intensity;
//}
// 实际是16位unsigned int数据
hr = m_pDepthFrame->CopyFrameDataToArray(424 * 512, reinterpret_cast<UINT16*>(i_src_depth.data));
}
// infrared拷贝到图片中
if (SUCCEEDED(hr))
{
hr = m_pInfraredFrame->CopyFrameDataToArray(424 * 512, reinterpret_cast<UINT16*>(i_ir.data));
}
Mat i_rgb_resize = i_rgb.clone();
cv::resize(i_rgb_resize, i_rgb_resize, Size(512, 424));
// 显示
char key_board = waitKey(10);
imshow("rgb", i_rgb_resize);
if (key_board == 'w')
break; // 彩色图像
imshow("i_src_depth", i_src_depth);
if (waitKey(1) == VK_ESCAPE)
break; // 深度图像
imshow("ir", i_ir);
if (key_board == 'w')
break; // 红外图像
if (key_board == '0')
{
// 定义保存图片的文件夹路径
std::string colorFolder = "C:\\A0fangfang\\shiyan\\8.5\\right-RGB\\";
std::string depthFolder = "C:\\A0fangfang\\shiyan\\8.5\\right-shen\\";
std::string irFolder = "C:\\A0fangfang\\shiyan\\8.5\\right-HW\\";
// 构造文件名,这里简单地使用日期和时间作为文件名的一部分
std::string colorFilename = colorFolder + "color_" + std::to_string(time(NULL)) + ".png";
std::string depthFilename = depthFolder + "depth_" + std::to_string(time(NULL)) + ".png";
std::string irFilename = irFolder + "ir_" + std::to_string(time(NULL)) + ".png";
// 保存图片
imwrite(colorFilename, i_rgb_resize);
imwrite(depthFilename, i_src_depth);
imwrite(irFilename, i_ir);
std::cout << "Images saved:" << std::endl;
std::cout << "Color: " << colorFilename << std::endl;
std::cout << "Depth: " << depthFilename << std::endl;
std::cout << "Infrared: " << irFilename << std::endl;
}
// 释放资源
SafeRelease(m_pColorFrame);
SafeRelease(m_pDepthFrame);
SafeRelease(m_pInfraredFrame);
SafeRelease(m_pColorFrameReference);
SafeRelease(m_pDepthFrameReference);
SafeRelease(m_pInfraredFrameReference);
SafeRelease(m_pMultiFrame);
}
// 关闭窗口,设备
cv::destroyAllWindows();
m_pKinectSensor->Close();
std::system("pause");
return 0;
}