Kinect for Windows V2和V1對照開發___彩色資料擷取並用OpenCV2.4.10顯示

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V1彩色解析度：640x480

V2彩色解析度：1920x1080

1，開啟彩色映像幀的方式

對於V1: 使用NuiImageStreamOpen方法開啟

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;                    }這樣的方式能夠設定解析度

對於V2：     

首先使用  m_pKinectSensor->Open();//開啟Kinect         if (SUCCEEDED(hr))        {            hr =m_pKinectSensor->get_ColorFrameSource(&pColorFrameSource);        }方法get_ColorFrameSource開啟彩色幀的源。然後使用     if (SUCCEEDED(hr))        {            hr =pColorFrameSource->OpenReader(&m_pColorFrameReader);        }        SafeRelease(pColorFrameSource);方法OpenReader開啟彩色幀讀取器。

2，更新彩色幀的方式

對於V1：使用NuiImageStreamGetNextFrame方法

NuiImageStreamGetNextFrame(m_hColorStreamHandle,0, &pImageFrame);//得到該幀資料

對於V2：使用AcquireLatestFrame方法

   

 if (!m_pColorFrameReader)    {        return;    }     IColorFrame* pColorFrame = NULL; HRESULT hr =m_pColorFrameReader->AcquireLatestFrame(&pColorFrame);

3，資料的處理方式

對於V1：這樣的資料擷取方式比較明朗看到資料內部結構，

INuiFrameTexture *pTexture =pImageFrame->pFrameTexture;                          NUI_LOCKED_RECT LockedRect;                          pTexture->LockRect(0, &LockedRect,NULL, 0);//提取資料幀到LockedRect。它包含兩個資料對象：pitch每行位元組數。pBits第一個位元組地址                          if( LockedRect.Pitch != 0 )                          {                                   cvZero(colorImage);                                   for (int i=0; i<480; i++)                                   {                                            uchar* ptr =(uchar*)(colorImage->imageData+i*colorImage->widthStep);                                            BYTE * pBuffer =(BYTE*)(LockedRect.pBits)+i*LockedRect.Pitch;//每一個位元組代表一個顏色資訊。直接使用BYTE                                            for (int j=0; j<640; j++)                                            {                                                     ptr[3*j] =pBuffer[4*j];//內部資料是4個位元組，0-1-2是BGR，第4個如今未使用                                                     ptr[3*j+1] =pBuffer[4*j+1];                                                     ptr[3*j+2] =pBuffer[4*j+2];                                            }                                   }                                   //cvWriteFrame(wr_color,colorImage);                                   cvShowImage("colorImage", colorImage);//顯示映像

得到的終於形式能夠用OpenCV顯示。

 

對於V2：   這樣的資料的內部結構是神馬樣子呢？然後怎樣用OpenCV顯示出映像資料呢？待查…

    

RGBQUAD* m_pColorRGBX;//彩色資料存放區位置m_pColorRGBX(NULL)//建構函式初始化    // create heap storage for color pixel data in RGBXformat    m_pColorRGBX = new RGBQUAD[cColorWidth *cColorHeight];  //下邊就是AcquireLatestFrame之後處理資料 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 =pColorFrame->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);        }

感覺眼下得到的pBuffer就是儲存的彩色資料。問題是怎樣用OpenCV來顯示呢？

4，OpenCV顯示

<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 );//建立尺寸為height x width 的4通道8位元影像像Mat bufferMat( height, width, CV_8UC4 );Mat colorMat( height / 2, width / 2, CV_8UC4 );while( 1 ){// 更新彩色幀IColorFrame* pColorFrame = nullptr;hResult = pColorReader->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 );

當中用到kinect的CopyConvertedFrameDataToArray函數，將映像幀轉換為矩陣資料用來顯示。

5。V2+VS2012+OpenCV代碼

#include <Windows.h>#include <Kinect.h>#include <opencv2/opencv.hpp>using namespace std;using namespace cv;//釋放介面須要自訂template<class Interface>inline void SafeRelease( Interface *& pInterfaceToRelease ){if( pInterfaceToRelease != NULL ){pInterfaceToRelease->Release();pInterfaceToRelease = NULL;}}int main( int argc, char **argv[] ){//OpenCV中開啟CPU的硬體指令最佳化功能函數setUseOptimized( true );// 開啟kinectIKinectSensor* pSensor;HRESULT hResult = S_OK;hResult = GetDefaultKinectSensor( &pSensor );if( FAILED( hResult ) ){cerr << "Error : GetDefaultKinectSensor" << std::endl;return -1;}hResult = pSensor->Open();if( FAILED( hResult ) ){cerr << "Error : IKinectSensor::Open()" << std::endl;return -1;}// 彩色幀源IColorFrameSource* pColorSource;hResult = pSensor->get_ColorFrameSource( &pColorSource );if( FAILED( hResult ) ){cerr << "Error : IKinectSensor::get_ColorFrameSource()" << std::endl;return -1;}//彩色幀讀取IColorFrameReader* pColorReader;hResult = pColorSource->OpenReader( &pColorReader );if( FAILED( hResult ) ){cerr << "Error : IColorFrameSource::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 );//建立尺寸為height x width 的4通道8位元影像像Mat bufferMat( height, width, CV_8UC4 );Mat colorMat( height / 2, width / 2, CV_8UC4 );while( 1 ){// 更新彩色幀IColorFrame* pColorFrame = nullptr;hResult = pColorReader->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( 30 ) == VK_ESCAPE ){break;}}SafeRelease( pColorSource );SafeRelease( pColorReader );SafeRelease( pDescription );if( pSensor ){pSensor->Close();}SafeRelease( pSensor );return 0;}

解析度是大大的提高了啊~~

Kinect for Windows V2和V1對照開發___彩色資料擷取並用OpenCV2.4.10顯示