KinectV2 in Qt 在Qt中使用KinectV2编程

#include "widget.h" #include "ui_widget.h" #include "inc/Kinect.h" #include <QTimer> template<class Interface> inline void SafeRelease(Interface *& pInterfaceToRelease) { if (pInterfaceToRelease != NULL) { pInterfaceToRelease->Release(); pInterfaceToRelease = NULL; } } static const int cColorWidth = 1920; static const int cColorHeight = 1080; IKinectSensor* m_pKinectSensor;// Current Kinect IColorFrameReader* m_pColorFrameReader;// Color reader RGBQUAD* m_pColorRGBX; Widget::Widget(QWidget *parent) : QWidget(parent), ui(new Ui::Widget) { ui->setupUi(this); m_pKinectSensor = NULL; m_pColorFrameReader = NULL; m_pColorRGBX = new RGBQUAD[cColorWidth * cColorHeight];// create heap storage for color pixel data in RGBX format init(); QTimer *timer = new QTimer(this); connect(timer, SIGNAL(timeout()), this, SLOT(updateKinectData())); timer->start(33); } Widget::~Widget() { delete ui; if (m_pColorRGBX) { delete [] m_pColorRGBX; m_pColorRGBX = NULL; } SafeRelease(m_pColorFrameReader);// done with color frame reader if (m_pKinectSensor) { m_pKinectSensor->Close();// close the Kinect Sensor } SafeRelease(m_pKinectSensor); } void Widget::updateKinectData() { if (!m_pColorFrameReader) { return; } IColorFrame* pColorFrame = NULL; HRESULT hr = m_pColorFrameReader->AcquireLatestFrame(&pColorFrame); if (SUCCEEDED(hr)) { IFrameDescription* pFrameDescription = NULL; int nWidth = 0; int nHeight = 0; ColorImageFormat imageFormat = ColorImageFormat_None; UINT nBufferSize = 0; RGBQUAD *pBuffer = NULL; if (SUCCEEDED(hr)) { hr = pColorFrame->get_FrameDescription(&pFrameDescription); } if (SUCCEEDED(hr)) { hr = pFrameDescription->get_Width(&nWidth); } if (SUCCEEDED(hr)) { hr = pFrameDescription->get_Height(&nHeight); } if (SUCCEEDED(hr)) { hr = pColorFrame->get_RawColorImageFormat(&imageFormat); } 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)) { ui->label->setPixmap(QPixmap::fromImage(QImage((uchar*)pBuffer, nWidth , nHeight, QImage::Format_RGB32)).scaledToWidth(800)); //ProcessColor(pBuffer, nWidth, nHeight); } SafeRelease(pFrameDescription); } SafeRelease(pColorFrame); } void Widget::init() { HRESULT hr; hr = GetDefaultKinectSensor(&m_pKinectSensor); if (FAILED(hr)) { return; } if (m_pKinectSensor) { // Initialize the Kinect and get the color reader IColorFrameSource* pColorFrameSource = NULL; hr = m_pKinectSensor->Open(); if (SUCCEEDED(hr)) { hr = m_pKinectSensor->get_ColorFrameSource(&pColorFrameSource); } if (SUCCEEDED(hr)) { hr = pColorFrameSource->OpenReader(&m_pColorFrameReader); } SafeRelease(pColorFrameSource); } if (!m_pKinectSensor || FAILED(hr)) { printf("No ready Kinect found! \n"); return; } }