使用Kinect SDK获取深度图与彩色图并保存

感谢http://blog.csdn.net/zouxy09

#include <stdlib.h>
#include <iostream>
#include <string>
#include "OpenNI.h"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "Windows.h"
#include <Shlobj.h>
#include "NuiApi.h"
#include <sstream>

#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;
using namespace openni;

int frameNo = 1;

int main(int argc, char *argv[])
{
Mat colorImage;
Mat depthImage;
colorImage.create(480, 640, CV_8UC3);
depthImage.create(480,640,CV_8UC1);

//1、初始化NUI
HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
if (FAILED(hr))
{
cout<<"NuiInitialize failed"<<endl;
return hr;
}

//2、定义事件句柄
//创建读取下一帧的信号事件句柄，控制KINECT是否可以开始读取下一帧数据
HANDLE nextColorFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
HANDLE colorStreamHandle = NULL; //保存彩色图像数据流的句柄，用以提取数据

HANDLE nextDepthFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
HANDLE depthStreamHandle = NULL;//保存深度图像数据流的句柄，用以提取数据

//3、打开KINECT设备的彩色图信息通道，并用colorStreamHandle保存该流的句柄，以便于以后读取
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480,
0, 2, nextColorFrameEvent, &colorStreamHandle);
if( FAILED( hr ) )//判断是否提取正确
{
cout<<"Could not open color image stream video"<<endl;
NuiShutdown();
return hr;
}
namedWindow("colorImage", CV_WINDOW_AUTOSIZE);

hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480,
0, 2, nextDepthFrameEvent, &depthStreamHandle);
if( FAILED( hr ) )//判断是否提取正确
{
cout<<"Could not open depth image stream video"<<endl;
NuiShutdown();
return hr;
}
namedWindow("depthImage", CV_WINDOW_AUTOSIZE);

//4、开始读取彩色图数据
while(1)
{
const NUI_IMAGE_FRAME * pColorImageFrame = NULL;
const NUI_IMAGE_FRAME * pDepthImageFrame = NULL;

string colorPathPrefix = "colorImage";
string depthPathPrefix = "depthImage";
string commonPathSuffix = ".jpg";

//4.1、无限等待新的彩色图像数据，等到后返回
if (WaitForSingleObject(nextColorFrameEvent, INFINITE)==0)
{

stringstream ss;
ss<<colorPathPrefix;
ss<<frameNo;
ss<<commonPathSuffix;
string colorImagePath = ss.str();

//4.2、从刚才打开数据流的流句柄中得到该帧数据，读取到的数据地址存于pColorImageFrame
hr = NuiImageStreamGetNextFrame(colorStreamHandle, 0, &pColorImageFrame);
if (FAILED(hr))
{
cout<<"Could not get color image"<<endl;
NuiShutdown();
return -1;
}

INuiFrameTexture * pTexture = pColorImageFrame->pFrameTexture;
NUI_LOCKED_RECT LockedRect;

//4.3、提取数据帧到LockedRect，它包括两个数据对象：pitch每行字节数，pBits第一个字节地址
//并锁定数据，这样当我们读数据的时候，kinect就不会去修改它
pTexture->LockRect(0, &LockedRect, NULL, 0);
//4.4、确认获得的数据是否有效
if( LockedRect.Pitch != 0 )
{
//4.5、将数据转换为OpenCV的Mat格式
for (int i=0; i<colorImage.rows; i++)
{
uchar *ptr = colorImage.ptr<uchar>(i); //第i行的指针

//每个字节代表一个颜色信息，直接使用uchar
uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
for (int j=0; j<colorImage.cols; j++)
{
ptr[3*j] = pBuffer[4*j]; //内部数据是4个字节，0-1-2是BGR，第4个现在未使用
ptr[3*j+1] = pBuffer[4*j+1];
ptr[3*j+2] = pBuffer[4*j+2];
}
}
imwrite(colorImagePath,colorImage);
imshow("colorImage", colorImage); //显示图像
}
else
{
cout<<"Buffer length of received texture is bogus\r\n"<<endl;
}

//5、这帧已经处理完了，所以将其解锁
pTexture->UnlockRect(0);
//6、释放本帧数据，准备迎接下一帧
NuiImageStreamReleaseFrame(colorStreamHandle, pColorImageFrame );
}

//7.1、无限等待新的深度数据，等到后返回
if (WaitForSingleObject(nextDepthFrameEvent, INFINITE)==0)
{
stringstream ss;
ss<<depthPathPrefix;
ss<<frameNo;
ss<<commonPathSuffix;
string depthImagePath = ss.str();
frameNo++;
//7.2、从刚才打开数据流的流句柄中得到该帧数据，读取到的数据地址存于pImageFrame
hr = NuiImageStreamGetNextFrame(depthStreamHandle, 0, &pDepthImageFrame);
if (FAILED(hr))
{
cout<<"Could not get color image"<<endl;
NuiShutdown();
return -1;
}
INuiFrameTexture * pTexture = pDepthImageFrame->pFrameTexture;
NUI_LOCKED_RECT LockedRect;
//7.3、提取数据帧到LockedRect，它包括两个数据对象：pitch每行字节数，pBits第一个字节地址
//并锁定数据，这样当我们读数据的时候，kinect就不会去修改它
pTexture->LockRect(0, &LockedRect, NULL, 0);
//7.4、确认获得的数据是否有效
if( LockedRect.Pitch != 0 )
{

//7.5、将数据转换为OpenCV的Mat格式
for (int i=0; i<depthImage.rows; i++)
{
uchar *ptr = depthImage.ptr(i); //第i行的指针
//每个字节代表一个颜色信息，直接使用uchar
uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
USHORT *pBufferRun = (USHORT *)pBuffer;//这里需要转换，因为每个深度数据是2个字节，应将BYTE转成USHORT
for (int j=0; j<depthImage.cols; j++)
{
ptr[j] = 255-(BYTE)(256*pBufferRun[j]/0x1fff); //将数据归一化处理*
}
}
imwrite(depthImagePath,depthImage);
imshow("depthImage", depthImage); //显示图像

}
else
{
cout<<"Buffer length of received texture is bogus\r\n"<<endl;
}
//8、这帧已经处理完了，所以将其解锁
pTexture->UnlockRect(0);
//9、释放本帧数据，准备迎接下一帧
NuiImageStreamReleaseFrame(depthStreamHandle, pDepthImageFrame );
if(frameNo == 10)
break;
}

if (cvWaitKey(20) == 27)
break;
}
//7、关闭NUI链接
NuiShutdown();
return 0;
}