Kinect V2深度数据用OpenCV显示-小明编程

前几天看骨骼数据发现确实挺复杂的，那还是先搞定深度数据吧。

代码托管在Github上，你可以进入这个页面点击右侧的“Clone in Desktop”下载本系列所有代码~

// DepthBasic-OpenCV.cpp : 定义控制台应用程序的入口点。
/****************************************************
程序功能:Kinect V2深度数据用OpenCV显示
开发环境:win32控制台应用程序 x86程序 (程序类型)
		VisualStudio 2012 (开发工具)
		OpenCV2.4.10 (显示界面库 vc11库, http://brightguo.com/opencv)
		KinectSDK-v2.0-PublicPreview1409-Setup (Kinect SDK驱动版本, http://brightguo.com/kinect2)
		Windows 8.1 (操作系统)
博客文章:http://brightguo.com/kinect2-depth-opencv
代码地址:https://github.com/guoming0000/KinectV2/tree/master/DepthBasic-OpenCV

开发人员:小明
开发时间:2014-10-20~ 2014-10-21
联系方式:	i@guoming.me (邮箱，推荐联系方式)
		http://brightguo.com (网站，体感资讯和知识汇总)
		http://weibo.com/guoming0000 (新浪微博，用于发布体感等科技资讯，请勿私信)
******************************************************/
#include "stdafx.h"
#include "opencv2/opencv.hpp"
#include <windows.h>
#include <Kinect.h>// Kinect Header files
using namespace cv;
// Safe release for interfaces
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
	if (pInterfaceToRelease != NULL)
	{
		pInterfaceToRelease->Release();
		pInterfaceToRelease = NULL;
	}
}

//定义Kinect方法类
class Kinect
{
public:
	static const int        cDepthWidth  = 512;
	static const int        cDepthHeight = 424;
	Kinect();
	~Kinect();
	HRESULT					InitKinect();//初始化Kinect
	void					Update();//更新数据
	void					ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth);//处理得到的数据
private:
	
	IKinectSensor*          m_pKinectSensor;// Current Kinect
	IDepthFrameReader*      m_pDepthFrameReader;// Color reader
	RGBQUAD*                m_pDepthRGBX;

};

//主函数
int main()
{
	Kinect kinect;
	kinect.InitKinect();
	while(1)
	{
		kinect.Update();
		if(waitKey(1) >= 0)//按下任意键退出
		{
			break;
		}
	}

	return 0;
}

Kinect::Kinect()
{
	m_pKinectSensor = NULL;
	m_pDepthFrameReader = NULL;
	
	m_pDepthRGBX = new RGBQUAD[cDepthWidth * cDepthHeight];// create heap storage for color pixel data in RGBX format
}

Kinect::~Kinect()
{
	if (m_pDepthRGBX)
	{
		delete [] m_pDepthRGBX;
		m_pDepthRGBX = NULL;
	}

	SafeRelease(m_pDepthFrameReader);// done with color frame reader
	
	if (m_pKinectSensor)
	{
		m_pKinectSensor->Close();// close the Kinect Sensor
	}
	SafeRelease(m_pKinectSensor);
}

HRESULT	Kinect::InitKinect()
{
	HRESULT hr;

	hr = GetDefaultKinectSensor(&m_pKinectSensor);
	if (FAILED(hr))
	{
		return hr;
	}

	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);
	}

	if (!m_pKinectSensor || FAILED(hr))
	{
		printf("No ready Kinect found! \n");
		return E_FAIL;
	}

	return hr;
}

void Kinect::Update()
{
	if (!m_pDepthFrameReader)
	{
		return;
	}

	IDepthFrame* pDepthFrame = NULL;

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

	if (SUCCEEDED(hr))
	{
		IFrameDescription* pFrameDescription = NULL;
		int nWidth = 0;
		int nHeight = 0;
		USHORT nDepthMinReliableDistance = 0;
		USHORT nDepthMaxDistance = 0;
		UINT nBufferSize = 0;
        UINT16 *pBuffer = NULL;

		if (SUCCEEDED(hr))
		{
			hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
		}

		if (SUCCEEDED(hr))
		{
			hr = pFrameDescription->get_Width(&nWidth);
		}

		if (SUCCEEDED(hr))
		{
			hr = pFrameDescription->get_Height(&nHeight);
		}

		if (SUCCEEDED(hr))
		{
			hr = pDepthFrame->get_DepthMinReliableDistance(&nDepthMinReliableDistance);
		}

		if (SUCCEEDED(hr))
		{
			// In order to see the full range of depth (including the less reliable far field depth)
			// we are setting nDepthMaxDistance to the extreme potential depth threshold
			nDepthMaxDistance = USHRT_MAX;

			// Note:  If you wish to filter by reliable depth distance, uncomment the following line.
			//// hr = pDepthFrame->get_DepthMaxReliableDistance(&nDepthMaxDistance);
		}

		if (SUCCEEDED(hr))
		{
			hr = pDepthFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);            
		}

		if (SUCCEEDED(hr))
		{
			ProcessDepth( pBuffer, nWidth, nHeight, nDepthMinReliableDistance, nDepthMaxDistance);
		}

		SafeRelease(pFrameDescription);
	}

	SafeRelease(pDepthFrame);
}

void Kinect::ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth)
{
	// Make sure we've received valid data
	if (m_pDepthRGBX && pBuffer && (nWidth == cDepthWidth) && (nHeight == cDepthHeight))
	{
		RGBQUAD* pRGBX = m_pDepthRGBX;

		// end pixel is start + width*height - 1
		const UINT16* pBufferEnd = pBuffer + (nWidth * nHeight);

		while (pBuffer < pBufferEnd)
		{
			USHORT depth = *pBuffer;

			// To convert to a byte, we're discarding the most-significant
			// rather than least-significant bits.
			// We're preserving detail, although the intensity will "wrap."
			// Values outside the reliable depth range are mapped to 0 (black).

			// Note: Using conditionals in this loop could degrade performance.
			// Consider using a lookup table instead when writing production code.
			BYTE intensity = static_cast<BYTE>((depth >= nMinDepth) && (depth <= nMaxDepth) ? (depth % 256) : 0);

			pRGBX->rgbRed   = intensity;
			pRGBX->rgbGreen = intensity;
			pRGBX->rgbBlue  = intensity;

			++pRGBX;
			++pBuffer;
		}
			
		// Draw the data with OpenCV
		Mat DepthImage(nHeight, nWidth, CV_8UC4, m_pDepthRGBX);
		Mat show = DepthImage.clone();
		imshow("DepthImage", show);
	}
}

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// DepthBasic-OpenCV.cpp : 定义控制台应用程序的入口点。

/****************************************************

程序功能:Kinect V2深度数据用OpenCV显示

开发环境:win32控制台应用程序 x86程序 (程序类型)

VisualStudio 2012 (开发工具)

OpenCV2.4.10 (显示界面库 vc11库, http://brightguo.com/opencv)

KinectSDK-v2.0-PublicPreview1409-Setup (Kinect SDK驱动版本, http://brightguo.com/kinect2)

Windows 8.1 (操作系统)

博客文章:http://brightguo.com/kinect2-depth-opencv

代码地址:https://github.com/guoming0000/KinectV2/tree/master/DepthBasic-OpenCV

开发人员:小明

开发时间:2014-10-20~ 2014-10-21

联系方式: i@guoming.me (邮箱，推荐联系方式)

http://brightguo.com (网站，体感资讯和知识汇总)

http://weibo.com/guoming0000 (新浪微博，用于发布体感等科技资讯，请勿私信)

******************************************************/

#include "stdafx.h"

#include "opencv2/opencv.hpp"

#include <windows.h>

#include <Kinect.h>// Kinect Header files

using namespace cv;

// Safe release for interfaces

template<class Interface>

inline void SafeRelease(Interface *& pInterfaceToRelease)

{

if (pInterfaceToRelease != NULL)

{

pInterfaceToRelease->Release();

pInterfaceToRelease = NULL;

}

//定义Kinect方法类

class Kinect

{

public:

static const int cDepthWidth = 512;

static const int cDepthHeight = 424;

Kinect();

~Kinect();

HRESULT InitKinect();//初始化Kinect

void Update();//更新数据

void ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth);//处理得到的数据

private:

IKinectSensor* m_pKinectSensor;// Current Kinect

IDepthFrameReader* m_pDepthFrameReader;// Color reader

RGBQUAD* m_pDepthRGBX;

};

//主函数

int main()

{

Kinect kinect;

kinect.InitKinect();

while(1)

{

kinect.Update();

if(waitKey(1) >= 0)//按下任意键退出

{

break;

}

return 0;

}

Kinect::Kinect()

{

m_pKinectSensor = NULL;

m_pDepthFrameReader = NULL;

m_pDepthRGBX = new RGBQUAD[cDepthWidth * cDepthHeight];// create heap storage for color pixel data in RGBX format

}

Kinect::~Kinect()

{

if (m_pDepthRGBX)

{

delete [] m_pDepthRGBX;

m_pDepthRGBX = NULL;

}

SafeRelease(m_pDepthFrameReader);// done with color frame reader

if (m_pKinectSensor)

{

m_pKinectSensor->Close();// close the Kinect Sensor

}

SafeRelease(m_pKinectSensor);

}

HRESULT Kinect::InitKinect()

{

HRESULT hr;

hr = GetDefaultKinectSensor(&m_pKinectSensor);

if (FAILED(hr))

{

return hr;

}

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);

}

if (!m_pKinectSensor || FAILED(hr))

{

printf("No ready Kinect found! \n");

return E_FAIL;

}

return hr;

}

void Kinect::Update()

{

if (!m_pDepthFrameReader)

{

return;

}

IDepthFrame* pDepthFrame = NULL;

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

if (SUCCEEDED(hr))

{

IFrameDescription* pFrameDescription = NULL;

int nWidth = 0;

int nHeight = 0;

USHORT nDepthMinReliableDistance = 0;

USHORT nDepthMaxDistance = 0;

UINT nBufferSize = 0;

UINT16 *pBuffer = NULL;

if (SUCCEEDED(hr))

{

hr = pDepthFrame->get_FrameDescription(&pFrameDescription);

}

if (SUCCEEDED(hr))

{

hr = pFrameDescription->get_Width(&nWidth);

}

if (SUCCEEDED(hr))

{

hr = pFrameDescription->get_Height(&nHeight);

}

if (SUCCEEDED(hr))

{

hr = pDepthFrame->get_DepthMinReliableDistance(&nDepthMinReliableDistance);

}

if (SUCCEEDED(hr))

{

// In order to see the full range of depth (including the less reliable far field depth)

// we are setting nDepthMaxDistance to the extreme potential depth threshold

nDepthMaxDistance = USHRT_MAX;

// Note: If you wish to filter by reliable depth distance, uncomment the following line.

//// hr = pDepthFrame->get_DepthMaxReliableDistance(&nDepthMaxDistance);

}

if (SUCCEEDED(hr))

{

hr = pDepthFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);

}

if (SUCCEEDED(hr))

{

ProcessDepth( pBuffer, nWidth, nHeight, nDepthMinReliableDistance, nDepthMaxDistance);

}

SafeRelease(pFrameDescription);

}

SafeRelease(pDepthFrame);

}

void Kinect::ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth)

{

// Make sure we've received valid data

if (m_pDepthRGBX && pBuffer && (nWidth == cDepthWidth) && (nHeight == cDepthHeight))

{

RGBQUAD* pRGBX = m_pDepthRGBX;

// end pixel is start + width*height - 1

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

while (pBuffer < pBufferEnd)

{

USHORT depth = *pBuffer;

// To convert to a byte, we're discarding the most-significant

// rather than least-significant bits.

// We're preserving detail, although the intensity will "wrap."

// Values outside the reliable depth range are mapped to 0 (black).

// Note: Using conditionals in this loop could degrade performance.

// Consider using a lookup table instead when writing production code.

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

pRGBX->rgbRed = intensity;

pRGBX->rgbGreen = intensity;

pRGBX->rgbBlue = intensity;

++pRGBX;

++pBuffer;

}

// Draw the data with OpenCV

Mat DepthImage(nHeight, nWidth, CV_8UC4, m_pDepthRGBX);

Mat show = DepthImage.clone();

imshow("DepthImage", show);

}

Kinect V2深度数据用OpenCV显示

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