opencv+kinect sdk 开发 深度图和COLOR图 问题

[namcer8816]

我想调用多台 KINECT 现在代码不会改了 再现等待。。。。。。

#include <windows.h>
#include <iostream> 
#include <NuiApi.h>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

bool tracked[NUI_SKELETON_COUNT]={FALSE}; 
//CvPoint skeletonPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT]={cvPoint(0,0)}; 
//CvPoint colorPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT]={cvPoint(0,0)}; 
 
void getColorImage(HANDLE &colorEvent, HANDLE &colorStreamHandle, Mat &colorImage); 
void getDepthImage(HANDLE &depthEvent, HANDLE &depthStreamHandle, Mat &depthImage); 
//interface
INuiSensor *pNuiSensor;


int main(int argc, char *argv[])
{
	Mat colorImage;
	colorImage.create(480, 640, CV_8UC3); 
	Mat depthImage;
	depthImage.create(240, 320, CV_8UC3); 

	HANDLE colorEvent = CreateEvent( NULL, TRUE, FALSE, NULL ); 
    HANDLE depthEvent = CreateEvent( NULL, TRUE, FALSE, NULL ); 

 
    HANDLE colorStreamHandle = NULL; 
    HANDLE depthStreamHandle = NULL; 
	////
	 HRESULT hr;
	 int iSensorCount=0;
	 hr=NuiGetSensorCount(&iSensorCount);

	 if(FAILED(hr))
	 {
		 return hr;
	 }
	 for(int i=0;i<iSensorCount;i++)
	 {
		 hr=NuiCreateSensorByIndex(i,&pNuiSensor);

		 if(FAILED(hr))
		  {
			 return hr;
	      }
	 

	     hr=pNuiSensor->NuiStatus();
	     if(hr==S_OK){break;}
		 pNuiSensor->Release();
     }
     
	//HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX);   
	 hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX); 
    if( hr != S_OK )   
    {   
        cout<<"NuiInitialize failed"<<endl;   
        return hr;   
    } 
 
    hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, NULL, 4, colorEvent, &colorStreamHandle); 
    if( hr != S_OK )   
    {   
        cout<<"Open the color Stream failed"<<endl; 
        NuiShutdown(); 
        return hr;   
    } 
    hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_320x240, NULL, 2, depthEvent, &depthStreamHandle); 
    if( hr != S_OK )   
    {   
        cout<<"Open the depth Stream failed"<<endl; 
        NuiShutdown(); 
        return hr;   
    } 

	namedWindow("colorImage", CV_WINDOW_AUTOSIZE);
	namedWindow("depthImage", CV_WINDOW_AUTOSIZE);
	
    while (1) 
    { 
        if(WaitForSingleObject(colorEvent, 0)==0) 
            getColorImage(colorEvent, colorStreamHandle, colorImage); 
        if(WaitForSingleObject(depthEvent, 0)==0) 
            getDepthImage(depthEvent, depthStreamHandle, depthImage); 
           
        imshow("colorImage", colorImage); 
        imshow("depthImage", depthImage); 
		
 
        if(cvWaitKey(1)==27) 
            break; 
    } 
 
    NuiShutdown(); 
    return 0; 
}


void getColorImage(HANDLE &colorEvent, HANDLE &colorStreamHandle, Mat &colorImage) 
{ 
    const NUI_IMAGE_FRAME *colorFrame = NULL; 
 
    NuiImageStreamGetNextFrame(colorStreamHandle, 0, &colorFrame); 
    INuiFrameTexture *pTexture = colorFrame->pFrameTexture;   
 
    NUI_LOCKED_RECT LockedRect; 
    pTexture->LockRect(0, &LockedRect, NULL, 0);   
 
    if( LockedRect.Pitch != 0 ) 
    { 
		for (int i=0; i<colorImage.rows; i++) 
        {
			uchar *ptr = colorImage.ptr<uchar>(i); 
            uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
            for (int j=0; j<colorImage.cols; j++) 
            { 
                ptr[3*j] = pBuffer[4*j];  
                ptr[3*j+1] = pBuffer[4*j+1]; 
                ptr[3*j+2] = pBuffer[4*j+2]; 
            } 
		} 
    } 
    else 
    { 
        cout<<"Get Color Image Failed!"<<endl; 
    }

	pTexture->UnlockRect(0); 
    NuiImageStreamReleaseFrame(colorStreamHandle, colorFrame );
} 
 
void getDepthImage(HANDLE &depthEvent, HANDLE &depthStreamHandle, Mat &depthImage) 
{ 
    const NUI_IMAGE_FRAME *depthFrame = NULL; 
 
    NuiImageStreamGetNextFrame(depthStreamHandle, 0, &depthFrame); 
    INuiFrameTexture *pTexture = depthFrame->pFrameTexture;   
 
    NUI_LOCKED_RECT LockedRect; 
    pTexture->LockRect(0, &LockedRect, NULL, 0);   
 
    RGBQUAD q; 

    if( LockedRect.Pitch != 0 ) 
    { 
        for (int i=0; i<depthImage.rows; i++) 
        { 
            uchar *ptr = depthImage.ptr<uchar>(i); 
            uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
			USHORT *pBufferRun = (USHORT*) pBuffer; 
			
            for (int j=0; j<depthImage.cols; j++) 
            { 
                int player = pBufferRun[j]&7; 
                int data = (pBufferRun[j]&0xfff8) >> 3; 
                 
                uchar imageData = 255-(uchar)(256*data/0x0fff); 
                q.rgbBlue = q.rgbGreen = q.rgbRed = 0; 
 
                switch(player) 
                { 
					case 0:   
						q.rgbRed = imageData / 2;   
						q.rgbBlue = imageData / 2;   
						q.rgbGreen = imageData / 2;   
						break;   
					case 1:    
						q.rgbRed = imageData;   
						break;   
					case 2:   
						q.rgbGreen = imageData;   
						break;   
					case 3:   
						q.rgbRed = imageData / 4;   
						q.rgbGreen = q.rgbRed*4;  
						q.rgbBlue = q.rgbRed*4;  
						break;   
					case 4:   
						q.rgbBlue = imageData / 4;  
						q.rgbRed = q.rgbBlue*4;   
						q.rgbGreen = q.rgbBlue*4;   
						break;   
					case 5:   
						q.rgbGreen = imageData / 4;  
						q.rgbRed = q.rgbGreen*4;   
						q.rgbBlue = q.rgbGreen*4;   
						break;   
					case 6:   
						q.rgbRed = imageData / 2;   
						q.rgbGreen = imageData / 2;    
						q.rgbBlue = q.rgbGreen*2;   
						break;   
					case 7:   
						q.rgbRed = 255 - ( imageData / 2 );   
						q.rgbGreen = 255 - ( imageData / 2 );   
						q.rgbBlue = 255 - ( imageData / 2 ); 
				} 	 
				ptr[3*j] = q.rgbBlue; 
				ptr[3*j+1] = q.rgbGreen; 
				ptr[3*j+2] = q.rgbRed; 
            } 
        } 
    } 
    else 
    { 
        cout << "Get Depth Image Failed!" << endl; 
    } 
	
	pTexture->UnlockRect(0);
    NuiImageStreamReleaseFrame(depthStreamHandle, depthFrame);  
} 

[namcer8816]

在线等待哦。。。。 高手求助

[namcer8816]

现在只显示一台 我要调用6个

[namcer8816]

有人吗 。。。。。。。