kinect彩色数据的获取以及在opencv中显示

一个非常简单的kinect彩色图像获取的示例

说明

刚开始接触kinect，发现官方的教程写得都比较难，作为小白的我不怎么看得懂，所以就准备写几个非常的示例,方便自己的学习。
平台：

1. kinect2.0
2. kinect for windows sdk2.0
3. opencv2.4.9
4. win8.1
5. vs2013

其它kinect教程分享

http://guoming.me/category/technique/kinect
http://blog.csdn.net/column/details/k4w2dn.html

代码

下面的示例属于win32控制台应用代码
base.h

#pragma once

#include <iostream>
#include "opencv2/opencv.hpp"
#include <Kinect.h>

#pragma comment(lib,"Kinect20.lib")
//分两个模式引入文件不然会出问题
#ifdef _DEBUG
#pragma comment(lib,"opencv_core249d.lib")
#pragma comment(lib,"opencv_highgui249d.lib")
#pragma comment(lib,"opencv_imgproc249d.lib")
#endif

#ifndef _DEBUG
#pragma comment(lib,"opencv_core249.lib")
#pragma comment(lib,"opencv_highgui249.lib")
#pragma comment(lib,"opencv_imgproc249.lib")
#endif

using namespace std;
using namespace cv;

// Safe release for interfaces
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
    if (pInterfaceToRelease != NULL)
    {
        pInterfaceToRelease->Release();
        pInterfaceToRelease = NULL;
    }
}

main.cpp

#include"base.h"
HRESULT main()
{
    /*
        定义
    */
    IKinectSensor*        m_pKinectSensor = NULL; 
    IColorFrameSource*    m_pColorFrameSource = NULL;
    IColorFrameReader*    m_pColorFrameReader = NULL;
    IColorFrame*          m_pColorFrame;
    IFrameDescription*    m_pFrameDescription = NULL;

    RGBQUAD*              m_pColorRGBX = NULL;
    static const int      cColorWidth  = 1920;
    static const int      cColorHeight = 1080;

    ColorImageFormat imageFormat = ColorImageFormat_None;
    int nWidth = 0;
    int nHeight = 0;
    UINT nBufferSize = 0;
    RGBQUAD *pBuffer = NULL;

    /*
        初始化
    */
    m_pColorRGBX = new RGBQUAD[cColorWidth * cColorHeight];
    HRESULT hr;
    hr = GetDefaultKinectSensor(&m_pKinectSensor);
    if (FAILED(hr))
    {
        return hr;
        cout << "获得默认的Kinect设备失败" << endl;
    }
    else
    {
        cout << "获得默认的Kinect设备成功" << endl;
    }

    hr = m_pKinectSensor->Open();
    if (SUCCEEDED(hr))
    {
        hr = m_pKinectSensor->get_ColorFrameSource(&m_pColorFrameSource);
    }

    if (SUCCEEDED(hr))
    {
        hr = m_pColorFrameSource->OpenReader(&m_pColorFrameReader);
    }

    if (!m_pKinectSensor || FAILED(hr))
    {
        cout << "没有可用的Kinect" << endl;
    }
    else
    {
        cout << "打开Kinect成功" << endl;
    }
    SafeRelease(m_pColorFrameSource);
    /*
    读取数据
    */
    while (true)
    {
        if (!m_pColorFrameReader)
        {
            return S_FALSE;
        }
        //不是每一次都能获取到m_pColorFrame，因为kinect的彩色帧的帧率是固定的30或者15（看灯光） 而且刚开始时候过来的数据是有问题的不能被正常解析
        hr = m_pColorFrameReader->AcquireLatestFrame(&m_pColorFrame);
        if ( SUCCEEDED(hr) )
        {
            hr = m_pColorFrame->get_FrameDescription(&m_pFrameDescription);
            cout << "获取数据成功" << endl;
        }
        else
        {
            cout << "                                      获取数据失败" << endl;
        }


        if (SUCCEEDED(hr))
        {
            hr = m_pFrameDescription->get_Width(&nWidth);
        }
        if (SUCCEEDED(hr))
        {
            hr = m_pFrameDescription->get_Height(&nHeight);
        }
        if (SUCCEEDED(hr))
        {
            hr = m_pColorFrame->get_RawColorImageFormat(&imageFormat);
        }
        if (SUCCEEDED(hr))
        {
            if (imageFormat == ColorImageFormat_Bgra)
            {
                hr = m_pColorFrame->AccessRawUnderlyingBuffer(&nBufferSize, reinterpret_cast<BYTE**>(&pBuffer));
            }
            else if (m_pColorRGBX)
            {
                pBuffer = m_pColorRGBX;
                nBufferSize = cColorWidth * cColorHeight * sizeof(RGBQUAD);
                hr = m_pColorFrame->CopyConvertedFrameDataToArray(nBufferSize,reinterpret_cast<BYTE*>(pBuffer),ColorImageFormat_Bgra);
            }
            else
            {
                return E_FAIL;
            }
        }
        SafeRelease(m_pColorFrame); //关键的地方每次要记得释放

        //转化成Mat
        Mat showImg;
        if( pBuffer && ( nWidth == cColorWidth) && (nHeight == cColorHeight))
        {
            Mat img(cColorHeight, cColorWidth, CV_8UC4, pBuffer);
            resize(img, showImg, Size(cColorWidth / 2, cColorHeight / 2));
        }
        else
        {
            cout << "pBuffer = " << pBuffer << endl;
            cout << "nWidth = " << nWidth << " " << "nHeight = " << cColorWidth<< endl;
            cout << "nHeight = " << nHeight << " " << "cColorHeight = " << cColorHeight << endl;
            cout << "数据转化有误" << endl;
            showImg = Mat(cColorHeight / 2, cColorWidth / 2,CV_8UC4,Scalar(0,0,0,0));
        }
        imshow("ColorImg", showImg);
        waitKey(1000/30);
    }

    /*
        释放 上面申请的Kinect接口都应该释放
    */
    //waitKey();

    return S_OK;
}

效果图：

图只是截了了一半，环境有点乱，见笑了。。。