Kinect for Windows V2 and V1 development ___ Color Data acquisition and OpenCV2.4.10 display

V1 Color Resolution: 640x480

V2 Color Resolution: 1920x1080

1. How to turn on the color image frame

for V1: Use Nuiimagestreamopen Method Open

hr = M_pnuisensor->nuiimagestreamopen (                                   nui_image_type_color,nui_image_resolution_640x480,0, 2,                                   m_ Hnextcolorframeevent,&m_hcolorstreamhandle);                          if (FAILED (HR))                          {                                   cout<< "Could notopen image stream video" <<endl;                                   return hr;                    } This way you can set the resolution

For V2:

First Use  m_pkinectsensor->open ();//Open Kinect         if (SUCCEEDED (HR))        {            hr =m_pkinectsensor->get_ Colorframesource (&pcolorframesource);        } The Get_colorframesource method opens the source of the colored frame. Then use     if (SUCCEEDED (HR))        {            hr =pcolorframesource->openreader (&m_pcolorframereader);        }        Saferelease (Pcolorframesource); method Openreader Open the color frame reader.

2. How to update color frames

For V1: Using the Nuiimagestreamgetnextframe method

Nuiimagestreamgetnextframe (m_hcolorstreamhandle,0, &pimageframe);//Get the frame data

For V2: Using the Acquirelatestframe method

if (!m_pcolorframereader)    {        return;    }     icolorframe* pcolorframe = NULL; HRESULT hr =m_pcolorframereader->acquirelatestframe (&pcolorframe);

3. How the data is processed

For V1: This data acquisition method is more clear to see the internal structure of the data,

Inuiframetexture *ptexture =pimageframe->pframetexture;                          Nui_locked_rect Lockedrect; Ptexture->lockrect (0, &lockedrect,null, 0);//extract the data frame to lockedrect. It contains two data objects: Pitch per line of bytes.                                   Pbits the first byte of the address if (lockedrect.pitch! = 0) {                                   Cvzero (Colorimage); for (int i=0; i<480; i++) {uchar* ptr = (u                                            char*) (Colorimage->imagedata+i*colorimage->widthstep); BYTE * pbuffer = (byte*) (lockedrect.pbits) +i*lockedrect.pitch;//each byte represents a color information.                                            Directly using byte for (int j=0; j<640; j + +)                                                     {PTR[3*J] =pbuffer[4*j];//internal data is 4 bytes, 0-1-2 is BGR, 4th is not currently used Ptr[3*J+1] =pbuffer[4*j+1];                                            PTR[3*J+2] =pbuffer[4*j+2];                                   }}//cvwriteframe (Wr_color,colorimage); Cvshowimage ("Colorimage", colorimage);//Display image

finally the form can be used OpenCV display.

For V2: The internal structure of such data is God horse appearance? Then how to display the image data with OpenCV? Unknown origin ...

rgbquad* m_pcolorrgbx;//Color Data storage location M_PCOLORRGBX (NULL)//constructor initialization//create heap storage for color pixel data in Rgbxformat  M_PCOLORRGBX = new Rgbquad[ccolorwidth *ccolorheight];        Below is acquirelatestframe after processing data INT64 ntime = 0;        iframedescription* pframedescription =null;        int nwidth = 0;        int nheight = 0;        Colorimageformat imageformat = Colorimageformat_none;        UINT nbuffersize = 0;         Rgbquad *pbuffer = NULL; if (SUCCEEDED (HR)) {if (imageformat = = Colorimageformat_bgra) {hr =pcolorfra            Me->accessrawunderlyingbuffer (&nbuffersize, reinterpret_cast<byte**> (&pBuffer));                } else if (M_PCOLORRGBX) {pbuffer = M_PCOLORRGBX;                Nbuffersize = ccolorwidth *ccolorheight * sizeof (RGBQUAD); hr = Pcolorframe->copyconvertedframedatatoarray (nbuffersize,reinterpret_cast<byte*> (PBuffer),          Colorimageformat_bgra);             } else {hr = E_FAIL;        }} if (SUCCEEDED (HR)) {Processcolor (Ntime, Pbuffer,nwidth, nheight); }

It feels like the pbuffer is the stored color data. The question is how to use OPENCV to display it?

4,OPENCV Display

<span style= "White-space:pre" ></span>int width = 0;int height = 0;pdescription->get_width (&width); 1920pdescription->get_height (&height);  1080unsigned int buffersize = width * Height * 4 * sizeof (unsigned char);//Create 4-Channel 8-bit image with dimensions of height x width mat buffermat ( Height, width, cv_8uc4); Mat Colormat (HEIGHT/2, WIDTH/2, CV_8UC4); while (1) {//Update color frame icolorframe* pcolorframe = Nullptr;hresult = Pcolorreade R->acquirelatestframe (&pcolorframe); if (SUCCEEDED (HRESULT)) {HRESULT = Pcolorframe-> Copyconvertedframedatatoarray (buffersize, reinterpret_cast<byte*> (Buffermat.data), ColorImageFormat:: Colorimageformat_bgra), if (SUCCEEDED (HResult)) {Resize (Buffermat, Colormat, Cv::size (), 0.5, 0.5);}} Saferelease (Pcolorframe); Imshow ("Color", Colormat);

When used with Kinect's copyconvertedframedatatoarray function, the image frames are converted to matrix data for display.

5. V2+VS2012+OPENCV Code

#include <Windows.h> #include <Kinect.h> #include <opencv2/opencv.hpp>using namespace std;using Namespace cv;//release interface requires custom template<class interface>inline void Saferelease (Interface *& pinterfacetorelease) {if (pinterfacetorelease! = null) {pinterfacetorelease->release ();p interfacetorelease = NULL;}} int main (int argc, char **argv[]) {//OPENCV to turn on the CPU's Hardware instruction optimization function setuseoptimized (TRUE);//Open kinectikinectsensor* psensor; HRESULT HRESULT = S_ok;hresult = Getdefaultkinectsensor (&psensor); if (FAILED (HResult)) {cerr << "Error:get Defaultkinectsensor "<< std::endl;return-1;} HResult = Psensor->open (), if (FAILED (HResult)) {Cerr << "Error:ikinectsensor::open ()" << Std::endl;retu rn-1;} Color frame source icolorframesource* Pcolorsource;hresult = Psensor->get_colorframesource (&pcolorsource), if (FAILED ( HResult) {cerr << "Error:ikinectsensor::get_colorframesource ()" << std::endl;return-1;} Color frame Read icolorframereader* PcolorReader;hresult = Pcolorsource->openreader (&pcolorreader), if (FAILED (HResult)) {Cerr << Error:icolorfra Mesource::openreader () "<< std::endl;return-1;} descriptioniframedescription* Pdescription;hresult = pcolorsource->get_framedescription (&pDescription); if (FAILED (HResult)) {Cerr << "error:icolorframesource::get_framedescription ()" << std::endl;return-1;} int width = 0;int height = 0;pdescription->get_width (&width); 1920pdescription->get_height (&height);  1080unsigned int buffersize = width * Height * 4 * sizeof (unsigned char);//Create 4-Channel 8-bit image with dimensions of height x width mat buffermat ( Height, width, cv_8uc4); Mat Colormat (HEIGHT/2, WIDTH/2, CV_8UC4); while (1) {//Update color frame icolorframe* pcolorframe = Nullptr;hresult = Pcolorreade R->acquirelatestframe (&pcolorframe); if (SUCCEEDED (HRESULT)) {HRESULT = Pcolorframe-> Copyconvertedframedatatoarray (buffersize, reinterpret_cast<byte*> (buffermat.data), ColorImAgeformat::colorimageformat_bgra), if (SUCCEEDED (HResult)) {Resize (Buffermat, Colormat, Cv::size (), 0.5, 0.5);}} Saferelease (Pcolorframe); Imshow ("Color", Colormat); if (waitkey () = = Vk_escape) {break;}} Saferelease (Pcolorsource); Saferelease (Pcolorreader); Saferelease (pdescription); if (psensor) {psensor->close ();} Saferelease (psensor); return 0;}

The resolution is greatly improved AH ~ ~

Kinect for Windows V2 and V1 development ___ Color Data acquisition and OpenCV2.4.10 display