Draw the RGB data from Kinect C + + via OpenGL

In order to improve my 中文版 writing skills,i am going to write the blogs in 中文版 form now!

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Today,we would learn how to initialize the Kinect and get RGB data form It,then Convert the data to a Texture,which would be Drawn to the Windows.

We have both real pieces of kinect-specific code. I'll go over these on some detail, and give a fairly hight level overview of the display code

Include the header files:

#include <Windows.h> #include <Ole2.h> #include <gl/GL.h> #include <gl/GLU.h> #include <gl/ glut.h> #include <NuiApi.h> #include <NuiImageCamera.h> #include <NuiSensor.h>

Constants and global variables:

#define WIDTH 640#define height 480//OpenGL variablesgluint textureid;              ID of the texture to contain Kinect RGB dataglubyte data[width*height*4];  BGRA array containing the texture data//Kinect variableshandle rgbstream;              The identifier of the Kinect ' s RGB camerainuisensor* sensor;            The Kinect sensor

Kinect initialization:

BOOL Initkinect () {    //Get A working Kinect sensor    int numsensors;    if (Nuigetsensorcount (&numsensors) < 0 | | Numsensors < 1) return false;    if (Nuicreatesensorbyindex (0, &sensor) < 0) return false;    Initialize sensor    sensor->nuiinitialize (nui_initialize_flag_uses_depth | Nui_initialize_flag_uses_color);    Sensor->nuiimagestreamopen (        Nui_image_type_color,            //Depth camera or RGB camera?        ) nui_image_resolution_640x480,    //image RESOLUTION        0,      //image stream flags, e.g. near Mode        2,      //number of frames to buffer        NULL,   //Event handle        &rgbstream);    return sensor;}

Get an RGB frame from the Kinect:

void Getkinectdata (glubyte* dest) {    nui_image_frame imageframe;    Nui_locked_rect Lockedrect;    if (Sensor->nuiimagestreamgetnextframe (rgbstream, 0, &imageframe) < 0) return;    inuiframetexture* texture = imageframe.pframetexture;    Texture->lockrect (0, &lockedrect, NULL, 0);

if (Lockedrect.pitch! = 0)    {        const byte* Curr = (const byte*) lockedrect.pbits;        Const byte* Dataend = Curr + (width*height);        while (Curr < dataend) {            *dest++ = *curr++;        }    }

  Texture->unlockrect (0);    Sensor->nuiimagestreamreleaseframe (Rgbstream, &imageframe);}

Something about the window:

void Draw () {   drawkinectdata ();   Glutswapbuffers ();} void execute () {    glutmainloop ();} BOOL Init (int argc, char* argv[]) {    glutinit (&ARGC, argv);    Glutinitdisplaymode (glut_depth | glut_double | GLUT_RGBA);    Glutinitwindowsize (width,height);    Glutcreatewindow ("Kinect SDK Tutorial");    Glutdisplayfunc (draw);    Glutidlefunc (draw);    return true;}

Display via OpenGL:

  Initialize Textures    glgentextures (1, &textureid);    Glbindtexture (gl_texture_2d, Textureid);    Gltexparameteri (gl_texture_2d, Gl_texture_min_filter, gl_nearest);    Gltexparameteri (gl_texture_2d, Gl_texture_mag_filter, gl_nearest);    Glteximage2d (gl_texture_2d, 0, gl_rgba8, width, height,                 0, Gl_bgra, Gl_unsigned_byte, (glvoid*) data);    Glbindtexture (gl_texture_2d, 0);    OpenGL setup    glclearcolor (0,0,0,0);    Glcleardepth (1.0f);    Glenable (gl_texture_2d);    Camera Setup    glviewport (0, 0, width, height);    Glmatrixmode (gl_projection);    Glloadidentity ();    Glortho (0, width, height, 0, 1,-1);    Glmatrixmode (Gl_modelview);    Glloadidentity ();

int main (int argc, char* argv[]) {    if (!init (argc, argv)) return 1;    if (!initkinect ()) return 1;        /* ... OpenGL texture and camera initialization ... *//    /Main Loop    execute ();    return 0;}

Draw a frame to the screen:

void Drawkinectdata () {    glbindtexture (gl_texture_2d, Textureid);    Getkinectdata (data);    Gltexsubimage2d (gl_texture_2d, 0, 0, 0, width, height, gl_bgra, Gl_unsigned_byte, (glvoid*) data);   Glclear (Gl_color_buffer_bit | Gl_depth_buffer_bit);    Glbegin (gl_quads);        GLTEXCOORD2F (0.0f, 0.0f);        glvertex3f (0, 0, 0);        GLTEXCOORD2F (1.0f, 0.0f);        glvertex3f (width, 0, 0);        GLTEXCOORD2F (1.0f, 1.0f);        glvertex3f (width, height, 0.0f);        GLTEXCOORD2F (0.0f, 1.0f);        glvertex3f (0, height, 0.0f);    Glend ();}    

The end! Build and run,making sure that your Kinect are plugged in. You should see a window containing a viseo stream of what your Kinect sees.

Draw the RGB data from Kinect C + + via OpenGL