Kinect开发教程二.doc

Kinect开发教程二：OpenNI读取深度图像与彩色图像并显示 2012Apr17PM 11:14 [Kinect OpenNI 开发技术教程]|?Posted by?yuanloo|?Links?cnkinect |?2Comments  细心的朋友肯定已经发现Kinect上长了三只眼睛，其中一个是彩色摄像头，另外两个深度摄像头，一个负责发射红外光，一个负责接收，这样，我们便能通过Kinect得到一幅彩色图像和一幅深度图像。如果大家对Kniect眼睛的技术细节感兴趣，请点击这里。 ???????小斤的第一个范例，便是通过OpenNI得到彩色和深度图像咯，代码不长，其中一部分参考了Heresky童鞋的文章《透過 OpneNI 合併 Kinect 深度以及彩色影像資料》，此外，小斤补充了OpenCV的显示部分，使范例更为直观。 [cpp]?view plaincopy #include?stdlib.h?? #include?iostream?? #include?string?? //【1】?? #include?XnCppWrapper.h?? #include?opencv/cv.h?? #include?opencv/highgui.h?? ?? using?namespace?std;?? using?namespace?cv;?? ?? void?CheckOpenNIError(?XnStatus?result,?string?status?)?? {??? ????if(?result?!=?XN_STATUS_OK?)??? ????????cerr??status???Error:???xnGetStatusString(?result?)??endl;?? }?? ?? int?main(?int?argc,?char**?argv?)?? {?? ????XnStatus?result?=?XN_STATUS_OK;???? ????xn::DepthMetaData?depthMD;?? ????xn::ImageMetaData?imageMD;?? ?? ????//OpenCV?? ????IplImage*??imgDepth16u=cvCreateImage(cvSize(640,480),IPL_DEPTH_16U,1);?? ????IplImage*?imgRGB8u=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);?? ????IplImage*??depthShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);?? ????IplImage*?imageShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);?? ????cvNamedWindow(depth,1);?? ????cvNamedWindow(image,1);?? ????char?key=0;?? ?? ????//【2】?? ????//?context??? ????xn::Context?context;??? ????result?=?context.Init();??? ????CheckOpenNIError(?result,?initialize?context?);???? ?? ????//?creategenerator???? ????xn::DepthGenerator?depthGenerator;???? ????result?=?depthGenerator.Create(?context?);??? ????CheckOpenNIError(?result,?Create?depth?generator?);???? ????xn::ImageGenerator?imageGenerator;?? ????result?=?imageGenerator.Create(?context?);??? ????CheckOpenNIError(?result,?Create?image?generator?);?? ?? ????//【3】?? ????//map?mode???? ????XnMapOutputMode?mapMode;??? ????mapMode.nXRes?=?640;???? ????mapMode.nYRes?=?480;??? ????mapMode.nFPS?=?30;??? ????result?=?depthGenerator.SetMapOutputMode(?mapMode?);???? ????result