KinectSDK2.0深度帧获取

#include "stdafx.h" #include "included.h" #define TITLE L"Title" #define WNDWIDTH 1024 #define WNDHEIGHT 768 #define lengthof(a) sizeof(a)/sizeof(*a) // ThisApp构造函数 ThisApp::ThisApp(){ } // ThisApp析构函数 ThisApp::~ThisApp(){ // 销毁事件 if (m_hDepthFrameArrived && m_pDepthFrameReader){ m_pDepthFrameReader->UnsubscribeFrameArrived(m_hDepthFrameArrived); m_hDepthFrameArrived = 0; } // 释放DepthFrameReader SafeRelease(m_pDepthFrameReader); // 优雅地关闭Kinect if (m_pKinect){ m_pKinect->Close(); } SafeRelease(m_pKinect); } // 初始化 HRESULT ThisApp::Initialize(HINSTANCE hInstance, int nCmdShow){ HRESULT hr = E_FAIL; if (SUCCEEDED(static_cast<HRESULT>(m_ImagaRenderer))) { //register window class WNDCLASSEX wcex = { sizeof(WNDCLASSEX) }; wcex.style = CS_HREDRAW | CS_VREDRAW; wcex.lpfnWndProc = ThisApp::WndProc; wcex.cbClsExtra = 0; wcex.cbWndExtra = sizeof(LONG_PTR); wcex.hInstance = hInstance; wcex.hCursor = LoadCursorW(nullptr, IDC_ARROW); wcex.hbrBackground = nullptr; wcex.lpszMenuName = nullptr; wcex.lpszClassName = L"Direct2DTemplate"; wcex.hIcon = nullptr; // 注册窗口 RegisterClassEx(&wcex); // 创建窗口 RECT window_rect = { 0, 0, WNDWIDTH, WNDHEIGHT }; DWORD window_style = WS_CAPTION | WS_VISIBLE | WS_POPUP | WS_SYSMENU | WS_MINIMIZEBOX; AdjustWindowRect(&window_rect, window_style, FALSE); AdjustWindowRect(&window_rect, window_style, FALSE); window_rect.right -= window_rect.left; window_rect.bottom -= window_rect.top; window_rect.left = (GetSystemMetrics(SM_CXFULLSCREEN) - window_rect.right) / 2; window_rect.top = (GetSystemMetrics(SM_CYFULLSCREEN) - window_rect.bottom) / 2; m_hwnd = CreateWindowExW(0, wcex.lpszClassName, TITLE, window_style, window_rect.left, window_rect.top, window_rect.right, window_rect.bottom, 0, 0, hInstance, this); hr = m_hwnd ? S_OK : E_FAIL; if (SUCCEEDED(hr)) { // 设置窗口句柄 m_ImagaRenderer.SetHwnd(m_hwnd); // 显示窗口 ShowWindow(m_hwnd, nCmdShow); UpdateWindow(m_hwnd); } } return hr; } // 消息循环 void ThisApp::RunMessageLoop() { MSG msg; HANDLE events[] = { reinterpret_cast<HANDLE>(m_hDepthFrameArrived) }; while (true){ // 消息处理 if (PeekMessageW(&msg, nullptr, 0, 0, PM_REMOVE)){ TranslateMessage(&msg); DispatchMessageW(&msg); } // 设置事件 // 事件0: 深度临帧事件 events[0] = reinterpret_cast<HANDLE>(m_hDepthFrameArrived); // 检查事件 switch (MsgWaitForMultipleObjects(lengthof(events), events, FALSE, INFINITE, QS_ALLINPUT)) { // events[0] case WAIT_OBJECT_0 + 0: this->check_depth_frame(); break; default: break; } // 退出 if (msg.message == WM_QUIT){ break; } } } // 窗口过程函数 LRESULT CALLBACK ThisApp::WndProc(HWND hwnd, UINT message, WPARAM wParam, LPARAM lParam) { LRESULT result = 0; if (message == WM_CREATE) { LPCREATESTRUCT pcs = (LPCREATESTRUCT)lParam; ThisApp *pOurApp = (ThisApp *)pcs->lpCreateParams; ::SetWindowLongPtrW( hwnd, GWLP_USERDATA, PtrToUlong(pOurApp) ); // 并初始化Kinect if (FAILED(pOurApp->init_kinect())){ ::MessageBoxW(hwnd, L"初始化Kinect v2失败", L"真的很遗憾", MB_ICONERROR); } result = 1; } else { ThisApp *pOurApp = reinterpret_cast<ThisApp *>(static_cast<LONG_PTR>( ::GetWindowLongPtrW( hwnd, GWLP_USERDATA ))); bool wasHandled = false; if (pOurApp) { switch (message) { case WM_DISPLAYCHANGE: InvalidateRect(hwnd, NULL, FALSE); result = 0; wasHandled = true; break; case WM_MOUSEWHEEL: pOurApp->m_ImagaRenderer.matrix._11 += 0.05f * static_cast<float>(static_cast<short>(HIWORD(wParam))) / static_cast<float>(WHEEL_DELTA); pOurApp->m_ImagaRenderer.matrix._22 = pOurApp->m_ImagaRenderer.matrix._11; pOurApp->m_ImagaRenderer.OnRender(); break; case WM_PAINT: pOurApp->m_ImagaRenderer.OnRender(); break; case WM_CLOSE: // 将收尾操作(如结束全部子线程)放在这里 DestroyWindow(hwnd); result = 1; wasHandled = true; break; case WM_DESTROY: PostQuitMessage(0); result = 1; wasHandled = true; break; } } if (!wasHandled) { result = DefWindowProc(hwnd, message, wParam, lParam); } } return result; } // 初始化Kinect HRESULT ThisApp::init_kinect(){ IDepthFrameSource* pDepthFrameSource = nullptr; // 查找当前默认Kinect HRESULT hr = ::GetDefaultKinectSensor(&m_pKinect); // 绅士地打开Kinect if (SUCCEEDED(hr)){ hr = m_pKinect->Open(); } // 获取深度帧源(DepthFrameSource) if (SUCCEEDED(hr)){ hr = m_pKinect->get_DepthFrameSource(&pDepthFrameSource); } // 再获取深度帧读取器 if (SUCCEEDED(hr)){ #ifdef _DEBUG // 检查是否已存在 if (m_pDepthFrameReader) ::MessageBoxW(m_hwnd, L"成员变量:m_pDepthFrameReader 值已存在", L"<ThisApp::init_kinect>", MB_ICONERROR); #endif hr = pDepthFrameSource->OpenReader(&m_pDepthFrameReader); } // 注册临帧事件 if (SUCCEEDED(hr)){ #ifdef _DEBUG // 检查是否已存在 if (m_hDepthFrameArrived) ::MessageBoxW(m_hwnd, L"成员变量:m_hDepthFrameArrived 值已存在", L"<ThisApp::init_kinect>", MB_ICONERROR); #endif m_pDepthFrameReader->SubscribeFrameArrived(&m_hDepthFrameArrived); } SafeRelease(pDepthFrameSource); return hr; } // 检查深度帧 void ThisApp::check_depth_frame(){ if (!m_pDepthFrameReader) return; #ifdef _DEBUG static int frame_num = 0; ++frame_num; _cwprintf(L"<ThisApp::check_depth_frame>Frame@%8d ", frame_num); #endif // 深度临帧事件参数 IDepthFrameArrivedEventArgs* pArgs = nullptr; // 深度帧引用 IDepthFrameReference* pDFrameRef = nullptr; // 深度帧 IDepthFrame* pDepthFrame = nullptr; // 帧描述 IFrameDescription* pFrameDescription = nullptr; // 深度帧宽度数据 int width = 0; // 深度帧高度数据 int height = 0; // 最近有效值 USHORT depth_min_reliable_distance = 0; // 最远有效值 USHORT depth_max_reliable_distance = 0; // 帧缓存大小 UINT nBufferSize = 0; // 深度缓存 UINT16 *pBuffer = nullptr; // 获取参数 HRESULT hr = m_pDepthFrameReader->GetFrameArrivedEventData(m_hDepthFrameArrived, &pArgs); // 获取引用 if (SUCCEEDED(hr)) { hr = pArgs->get_FrameReference(&pDFrameRef); } // 获取深度帧 if (SUCCEEDED(hr)) { hr = pDFrameRef->AcquireFrame(&pDepthFrame); } // 获取帧描述 if (SUCCEEDED(hr)) { hr = pDepthFrame->get_FrameDescription(&pFrameDescription); } // 获取帧宽度 if (SUCCEEDED(hr)) { hr = pFrameDescription->get_Width(&width); } // 获取帧高度 if (SUCCEEDED(hr)) { hr = pFrameDescription->get_Height(&height); } // 获取最近有效距离值 if (SUCCEEDED(hr)) { hr = pDepthFrame->get_DepthMinReliableDistance(&depth_min_reliable_distance); } // 获取最远有效距离值 if (SUCCEEDED(hr)) { hr = pDepthFrame->get_DepthMaxReliableDistance(&depth_max_reliable_distance); } // 获取深度数据 if (SUCCEEDED(hr)) { hr = pDepthFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer); } // 处理数据 if (SUCCEEDED(hr)) { auto pRGBXBuffer = m_ImagaRenderer.GetBuffer(); // 处理算法 // 0着红色 (0, min)着128~255渐进绿色 大于max的着128~255蓝色 之间的着0~2