obtain_data.txt

#include "stdafx.h"
#include "kinect.h"
#include <iostream>
#include <opencv2/core/core.hpp> 
#include <opencv2/highgui/highgui.hpp> 
using namespace cv;
using namespace std;
 
// 安全释放指针
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
    if (pInterfaceToRelease != NULL)
    {
        pInterfaceToRelease->Release();
        pInterfaceToRelease = NULL;
    }
}
 
int _tmain(int argc, _TCHAR* argv[])
{
    // 获取Kinect设备
    IKinectSensor* m_pKinectSensor;
    HRESULT hr;
    hr = GetDefaultKinectSensor(&m_pKinectSensor);
    if (FAILED(hr))
    {
        return hr;
    }
 

    IMultiSourceFrameReader* m_pMultiFrameReader=NULL;
    if (m_pKinectSensor)
    {
        hr = m_pKinectSensor->Open();
        if (SUCCEEDED(hr))
        {
            // 获取多数据源到读取器 
            hr = m_pKinectSensor->OpenMultiSourceFrameReader(
                FrameSourceTypes::FrameSourceTypes_Color |
                FrameSourceTypes::FrameSourceTypes_Infrared |
                FrameSourceTypes::FrameSourceTypes_Depth,
                &m_pMultiFrameReader);
        }
    }
 
    if (!m_pKinectSensor || FAILED(hr))
    {
        return E_FAIL;
    }
    // 三个数据帧及引用
    IDepthFrameReference* m_pDepthFrameReference = NULL;
    IColorFrameReference* m_pColorFrameReference = NULL;
    IInfraredFrameReference* m_pInfraredFrameReference = NULL;
    IInfraredFrame* m_pInfraredFrame = NULL;
    IDepthFrame* m_pDepthFrame = NULL;
    IColorFrame* m_pColorFrame = NULL;
    // 三个图片格式
    Mat i_rgb(1080, 1920, CV_8UC4);      //注意：这里必须为4通道的图，Kinect的数据只能以Bgra格式传出
    Mat i_depth(424, 512, CV_8UC1);
    Mat i_ir(424, 512, CV_16UC1);