Kinect sdk 2.0 + Opencv 获取深度图像并保存

﹏ヽ暗。殇╰゛Y 2022-06-08 00:54 351阅读 0赞

代码是我结合kinect sdk 2.0 里面的例程和其他网友的代码写出来的。  
如果你想在你的电脑上实现我的代码，那你的电脑需要满足以下两个条件：

1.  硬件设备：kinect v2；
2.  编译环境：kinect sdk 2.0 + Opencv3.0 配入编译环境

环境配置： https://blog.csdn.net/m0_38128647/article/details/76030275

代码如下：

#include <iostream>
    #include <opencv2\imgproc.hpp> 
    #include <opencv2\calib3d.hpp>
    #include <opencv2\highgui.hpp>
    #include <Kinect.h>
    
    using   namespace   std;
    using   namespace   cv;
    
    // Safe release for interfaces
    template<class Interface>
    inline void SafeRelease(Interface *& pInterfaceToRelease)
    {
    	if (pInterfaceToRelease != NULL)
    	{
    		pInterfaceToRelease->Release();
    		pInterfaceToRelease = NULL;
    	}
    }
    
    Mat ConvertMat(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth)
    {
    	cv::Mat img(nHeight, nWidth, CV_8UC3);
    	uchar* p_mat = img.data;
    	const UINT16* pBufferEnd = pBuffer + (nWidth * nHeight);
    	while (pBuffer < pBufferEnd)
    	{
    		USHORT depth = *pBuffer;
    		BYTE intensity = static_cast<BYTE>((depth >= nMinDepth)&&(depth<= nMaxDepth)?(depth%256):0);
    		*p_mat = intensity;
    		p_mat++;
    		*p_mat = intensity;
    		p_mat++;
    		*p_mat = intensity;
    		p_mat++;
    		++pBuffer;
    	}
    	return img;
    }
    
    void main()
    {
    	// Get and initialize the default Kinect sensor
    	IKinectSensor* m_pKinectSensor = NULL;
    	// Depth reader  
    	IDepthFrameReader* m_pDepthFrameReader = NULL;
    	HRESULT hr;
    	hr = GetDefaultKinectSensor(&m_pKinectSensor);
    	if (FAILED(hr))
    	{
    		cout<<"open kinectsensor failed "<<endl;
    	}
    	if (m_pKinectSensor)
    	{
    		// Initialize the Kinect and get the depth reader
    		IDepthFrameSource* pDepthFrameSource = NULL;
    		hr = m_pKinectSensor->Open();
    		if (SUCCEEDED(hr))
    		{
    			hr = m_pKinectSensor->get_DepthFrameSource(&pDepthFrameSource);
    		}
    		if (SUCCEEDED(hr))
    		{
    			hr = pDepthFrameSource->OpenReader(&m_pDepthFrameReader);	
    		}
    		SafeRelease(pDepthFrameSource);
    	}
    	if (!m_pKinectSensor || FAILED(hr))
    	{
    		cout << "No ready Kinect found!" << endl;
    	}
    	IplImage qImg;
    	while (1)
    	{
    		if (!m_pDepthFrameReader)
    		{
    			return;
    		}
    		IDepthFrame* pDepthFrame = NULL;
    		HRESULT hr = m_pDepthFrameReader->AcquireLatestFrame(&pDepthFrame);
    		if (SUCCEEDED(hr))
    		{
    			INT64 nTime = 0;
    			IFrameDescription* pFrameDescription = NULL;
    			int nWidth = 0;
    			int nHeight = 0;
    			USHORT nDepthMinReliableDistance = 0;
    			USHORT nDepthMaxDistance = 0;
    			UINT nBufferSize = 0;
    			UINT16 *pBuffer = NULL;
    			hr = pDepthFrame->get_RelativeTime(&nTime);
    			if (SUCCEEDED(hr))
    			{
    				hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
    			}
    			if (SUCCEEDED(hr))
    			{
    				hr = pFrameDescription->get_Width(&nWidth);
    			}
    			if (SUCCEEDED(hr))
    			{
    				hr = pFrameDescription->get_Height(&nHeight);
    			}
    			if (SUCCEEDED(hr))
    			{
    				hr = pDepthFrame->get_DepthMinReliableDistance(&nDepthMinReliableDistance);
    			}
    			if (SUCCEEDED(hr))
    			{
    				// In order to see the full range of depth (including the less reliable far field depth)
    				// we are setting nDepthMaxDistance to the extreme potential depth threshold
    				nDepthMaxDistance = USHRT_MAX;
    
    				// Note:  If you wish to filter by reliable depth distance, uncomment the following line.
    				 hr = pDepthFrame->get_DepthMaxReliableDistance(&nDepthMaxDistance);
    			}
    			if (SUCCEEDED(hr))
    			{
    				hr = pDepthFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);
    			}
    			if (SUCCEEDED(hr))
    			{
    				Mat depthImg_show = cv::Mat::zeros(nHeight, nWidth, CV_8UC3);
    				depthImg_show = ConvertMat(pBuffer, nWidth, nHeight,
    					nDepthMinReliableDistance, nDepthMaxDistance);
    				qImg = IplImage(depthImg_show);
    				cvSaveImage("depth.jpg", &qImg);
    				imshow("depth", depthImg_show);
    			}
    			SafeRelease(pFrameDescription);
    		}
    		SafeRelease(pDepthFrame);
    		if (waitKey(20) == VK_ESCAPE)
    			break;
    	}
    	// done with depth frame reader
    	SafeRelease(m_pDepthFrameReader);
    	// close the Kinect Sensor
    	if (m_pKinectSensor)
    	{
    		m_pKinectSensor->Close();
    	}
    	SafeRelease(m_pKinectSensor);
    }

图像效果：  
![这里写图片描述][SouthEast]  
这是我运行上面的代码保存下来的图片。  
以上代码，亲测能运行，如果运行不了，可以给我发邮件，或在评论区评论。  
邮箱：Interstellar\_ai@foxmail.com

[SouthEast]: /images/20220608/49d97fbb15e54d4396f5f2c8529396af.png