kinect2.0+opencv获取图像和深度图像


参考这篇博客的程序，/article/2271792.html

//师兄写的获取深度信息的程序，并且将深度信息存储为txt格式

/*#include <iostream>

#include <Kinect.h>

#include <fstream>

#include <sstream>

#include <string>

using namespace std;

string getname(int num, UINT size, int height, int width,int minds,int maxds)

{

ostringstream os;

os << num << "_SHWminHmaxH_"

<< size << "_"

<< height << "_"

<< width << "_"

<< minds << "_"

<< maxds << ".txt";

return os.str();

}

void writedata(string path, UINT16* buff, UINT size)

{

ofstream fout;

fout.open(path, ios::binary);

if (!fout.is_open())

{

cout << "Open file fail ->" << path;

return;

}

fout.write((char*)buff, size*sizeof(UINT16)/sizeof(char));

fout.close();

}

void printBuffer(UINT16* buff, UINT size)

{

for (int i = 0; i < 1000; i++)

{

cout << i << " " << int(buff[i]) << endl;

}

}

int main()

{

IKinectSensor* bb; //设备指针

HRESULT hr = GetDefaultKinectSensor(&bb); //获得设备

if (FAILED(hr))

{

cout << "No Kinect connect" << endl;

return 0;

}

BOOLEAN bIsOpen = 0;

bb->get_IsOpen(&bIsOpen);

if (!bIsOpen)

{

hr = bb->Open();

if (FAILED(hr))

{

cout << "No Kinect connect" << endl;

return 0;

}

cout << "wait 3000ms " << endl;

Sleep(3000);

}

bIsOpen = 0;

bb->get_IsOpen(&bIsOpen); // 是否已经打开

if (!bIsOpen)

{

cout << "Open Kinect fail" << endl;

return 0;

}

DWORD dwCapability = 0;

bb->get_KinectCapabilities(&dwCapability); // 获取容量

cout << "dwCapability： " << dwCapability << endl;

TCHAR bbuid[256] = { 0 };

bb->get_UniqueKinectId(256, bbuid); // 获取唯一ID

cout << "UID: " << bbuid << endl;

//深度信息

IDepthFrameSource * depths = nullptr;

hr = bb->get_DepthFrameSource(&depths);

if (FAILED(hr))

{

cout << "Open DepthFrame fail" << endl;

bb->Close();

return 0;

}

IDepthFrameReader * depthr = nullptr;

depths->OpenReader(&depthr); // 打开深度解析器

//读取深度数据

int snum = 1;

while (true)

{

IDepthFrame* depthf = nullptr;

depthr->AcquireLatestFrame(&depthf); // 获取最近的深度数据

if (!depthf)

{

Sleep(200);

continue;

}

USHORT minds, maxds;

depthf->get_DepthMinReliableDistance(&minds); // 获取最近的有效距离，500

depthf->get_DepthMaxReliableDistance(&maxds); // 获取最远的有效距离，4500

cout << "Depth min: " << minds << " ,max: " << maxds << endl;

IFrameDescription* frameDs = nullptr;

depthf->get_FrameDescription(&frameDs); // 获取深度信息的属性

int height, width;

frameDs->get_Height(&height);

frameDs->get_Width(&width);

cout << "Depth height: " << height << " ,width: " << width << endl;

UINT ncaps = 0;

UINT16* buff = nullptr;

depthf->AccessUnderlyingBuffer(&ncaps, &buff); // 获取深度数据的指针和大小

//depthf->CopyFrameDataToArray(...); // 讲深度数据Copy到制定的buffer中

cout << "Buffer size: " << ncaps << endl;

printBuffer(buff, ncaps);

writedata(getname(snum, ncaps,height, width, minds, maxds), buff, ncaps);

depthf->Release();

frameDs->Release();

Sleep(200);

if (snum++ == 1)

break;

}

bb->Close();

cout << "Enter to close" << endl;

cin.get();

return 0;

}*/

//博客里面的程序，头文件更改了，并且里面saferelease的写了

#include <iostream>

#include <Kinect.h>

#include <fstream>

#include <sstream>

#include <string>

//#include <config.h>

#include "stdafx.h"

#include <opencv2/opencv.hpp>

//#include "DepthBasics.h"

#include "opencv\highgui.h"

//自己添加的

template<class Interface>

inline void SafeRelease(Interface *& pInterfaceToRelease)

{

if (pInterfaceToRelease != NULL)

{

pInterfaceToRelease->Release();

pInterfaceToRelease = NULL;

}

}

// 转换depth图像到cv::Mat

cv::Mat ConvertMat(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth)

{

cv::Mat img(nHeight, nWidth, CV_8UC3);

uchar* p_mat = img.data;

const UINT16* pBufferEnd = pBuffer + (nWidth * nHeight);

while (pBuffer < pBufferEnd)

{

USHORT depth = *pBuffer;

BYTE intensity = static_cast<BYTE>((depth >= nMinDepth) && (depth <= nMaxDepth) ? (depth % 256) : 0);

*p_mat = intensity;

p_mat++;

*p_mat = intensity;

p_mat++;

*p_mat = intensity;

p_mat++;

++pBuffer;

}

return img;

}

// 转换color图像到cv::Mat

cv::Mat ConvertMat(const RGBQUAD* pBuffer, int nWidth, int nHeight)

{

cv::Mat img(nHeight, nWidth, CV_8UC3);

uchar* p_mat = img.data;

const RGBQUAD* pBufferEnd = pBuffer + (nWidth * nHeight);

while (pBuffer < pBufferEnd)

{

*p_mat = pBuffer->rgbBlue;

p_mat++;

*p_mat = pBuffer->rgbGreen;

p_mat++;

*p_mat = pBuffer->rgbRed;

p_mat++;

++pBuffer;

}

return img;

}

void main()

{

////////////////////////////////////////////////////////////////

int depth_width = 512; //depth图像就是这么小

int depth_height = 424;

int color_widht = 1920; //color图像就是辣么大

int color_height = 1080;

cv::Mat depthImg_show = cv::Mat::zeros(depth_height, depth_width, CV_8UC3);//原始UINT16 深度图像不适合用来显示，所以需要砍成8位的就可以了，但是显示出来也不是非常好，最好能用原始16位图像颜色编码，凑合着看了

cv::Mat depthImg = cv::Mat::zeros(depth_height, depth_width, CV_16UC1);//the depth image

cv::Mat colorImg = cv::Mat::zeros(color_height, color_widht, CV_8UC3);//the color image

// Current Kinect

IKinectSensor* m_pKinectSensor = NULL;

// Depth reader

IDepthFrameReader* m_pDepthFrameReader = NULL;

// Color reader

IColorFrameReader* m_pColorFrameReader = NULL;

RGBQUAD* m_pColorRGBX = new RGBQUAD[color_widht * color_height];

//open it!

HRESULT hr;

hr = GetDefaultKinectSensor(&m_pKinectSensor);

if (FAILED(hr))

{

std::cout << "FUCK! Can not find the Kinect!" << std::endl;

cv::waitKey(0);

exit(0);

}

if (m_pKinectSensor)

{

// Initialize the Kinect and get the depth reader

IDepthFrameSource* pDepthFrameSource = NULL;

hr = m_pKinectSensor->Open();

if (SUCCEEDED(hr))

{

hr = m_pKinectSensor->get_DepthFrameSource(&pDepthFrameSource);

}

if (SUCCEEDED(hr))

{

hr = pDepthFrameSource->OpenReader(&m_pDepthFrameReader);

}

SafeRelease(pDepthFrameSource);

// for color

// Initialize the Kinect and get the color reader

IColorFrameSource* pColorFrameSource = NULL;

if (SUCCEEDED(hr))

{

hr = m_pKinectSensor->get_ColorFrameSource(&pColorFrameSource);

}

if (SUCCEEDED(hr))

{

hr = pColorFrameSource->OpenReader(&m_pColorFrameReader);

}

SafeRelease(pColorFrameSource);

}

//valify the depth reader

if (!m_pDepthFrameReader)

{

std::cout << "FUCK! Can not find the m_pDepthFrameReader!" << std::endl;

cv::waitKey(0);

exit(0);

}

//valify the color reader

if (!m_pDepthFrameReader)

{

std::cout << "FUCK! Can not find the m_pColorFrameReader!" << std::endl;

cv::waitKey(0);

exit(0);

}

// get the data!

UINT nBufferSize_depth = 0;

UINT16 *pBuffer_depth = NULL;

UINT nBufferSize_coloar = 0;

RGBQUAD *pBuffer_color = NULL;

char key = 0;

while (true) // 貌似要一直尝试，不一定每次都能读取到图像

{

IDepthFrame* pDepthFrame = NULL;

HRESULT hr = m_pDepthFrameReader->AcquireLatestFrame(&pDepthFrame);

if (SUCCEEDED(hr))

{

USHORT nDepthMinReliableDistance = 0;

USHORT nDepthMaxReliableDistance = 0;

if (SUCCEEDED(hr))

{

hr = pDepthFrame->get_DepthMinReliableDistance(&nDepthMinReliableDistance);

}

if (SUCCEEDED(hr))

{

hr = pDepthFrame->get_DepthMaxReliableDistance(&nDepthMaxReliableDistance);

}

if (SUCCEEDED(hr))

{

hr = pDepthFrame->AccessUnderlyingBuffer(&nBufferSize_depth, &pBuffer_depth);

depthImg_show = ConvertMat(pBuffer_depth, depth_width, depth_height, nDepthMinReliableDistance, nDepthMaxReliableDistance);

}

}

SafeRelease(pDepthFrame);

//for color

IColorFrame* pColorFrame = NULL;

hr = m_pColorFrameReader->AcquireLatestFrame(&pColorFrame);

ColorImageFormat imageFormat = ColorImageFormat_None;

if (SUCCEEDED(hr))

{

ColorImageFormat imageFormat = ColorImageFormat_None;

if (SUCCEEDED(hr))

{

hr = pColorFrame->get_RawColorImageFormat(&imageFormat);

}

if (SUCCEEDED(hr))

{

hr = pColorFrame->get_RawColorImageFormat(&imageFormat);

}

if (SUCCEEDED(hr))

{

if (imageFormat == ColorImageFormat_Bgra)//这里有两个format，不知道具体含义，大概一个预先分配内存，一个需要自己开空间吧

{

hr = pColorFrame->AccessRawUnderlyingBuffer(&nBufferSize_coloar, reinterpret_cast<BYTE**>(&pBuffer_color));

}

else if (m_pColorRGBX)

{

pBuffer_color = m_pColorRGBX;

nBufferSize_coloar = color_widht * color_height * sizeof(RGBQUAD);

hr = pColorFrame->CopyConvertedFrameDataToArray(nBufferSize_coloar, reinterpret_cast<BYTE*>(pBuffer_color), ColorImageFormat_Bgra);

}

else

{

hr = E_FAIL;

}

colorImg = ConvertMat(pBuffer_color, color_widht, color_height);

}

SafeRelease(pColorFrame);

}

cv::imshow("depth", depthImg_show);

cv::imshow("color", colorImg);

//加的，把信息保存下来

cv::imwrite("de.jpg", depthImg_show);

cv::imwrite("co.jpg", colorImg);

key = cv::waitKey(1);

if (key == 27)

{

break;

}

}

if (m_pColorRGBX)

{

delete[] m_pColorRGBX;

m_pColorRGBX = NULL;

}

// close the Kinect Sensor

if (m_pKinectSensor)

{

m_pKinectSensor->Close();

}

SafeRelease(m_pKinectSensor);

}

在调试的之前，要把opencv安装并且配置好