OpenCV中Kinect的使用（3）

接OpenCV中Kinect的使用（2），下面内容主要讲述使用OpenNI 控制Kinect 的马达，实现摄像头的上下摆动。

下面是透过OpenNI比较低阶的USB控制介面（XnUSB.h），来做到马达的控制的代码：（来自这里）

使用时应注意一点：在使用该代码控制马达时，使用前应确保摄像头是关闭的；在每一次准备调整其角度时，都要先关闭摄像头。

原因不明。

// Forked from: https://groups.google.com/d/msg/openni-dev/T_CeVW_d8ig/dsBKONIpNyQJ

#include <XnUSB.h>
#include <cstdio>

#ifdef _WIN32
#include <Windows.h>
void pause_ ()
{
    Sleep(1000);
}
#else
#include <unistd.h>
void pause_ ()
{
    sleep(1);
}
#endif

/**
 * Class to control Kinect's motor.
 */
class KinectMotors
{
public:
    enum { MaxDevs = 16 };

public:
    KinectMotors();
    virtual ~KinectMotors();
    
    /**
        * Open device.
        * @return true if succeeded, false - overwise
        */
    bool Open();
    
    /**
        * Close device.
        */
    void Close();
    
    /**
        * Move motor up or down to specified angle value.
        * @param angle angle value
        * @return true if succeeded, false - overwise
        */
    bool Move(int angle);
    
private:
    XN_USB_DEV_HANDLE m_devs[MaxDevs];
    XnUInt32 m_num;
    bool m_isOpen;
};

KinectMotors::KinectMotors()
{
    m_isOpen = false;
}

KinectMotors::~KinectMotors()
{
    Close();
}

bool KinectMotors::Open()
{
    const XnUSBConnectionString *paths;
    XnUInt32 count;
    XnStatus res;
    
    // Init OpenNI USB
    res = xnUSBInit();
    if (res != XN_STATUS_OK)
    {
        xnPrintError(res, "xnUSBInit failed");
        return false;
    }
    
    // Open all "Kinect motor" USB devices
    res = xnUSBEnumerateDevices(0x045E /* VendorID */, 0x02B0 /*ProductID*/, &paths, &count);
    if (res != XN_STATUS_OK)
    {
        xnPrintError(res, "xnUSBEnumerateDevices failed");
        return false;
    }
    
    // Open devices
    for (XnUInt32 index = 0; index < count; ++index)
    {
        res = xnUSBOpenDeviceByPath(paths[index], &m_devs[index]);
        if (res != XN_STATUS_OK) {
            xnPrintError(res, "xnUSBOpenDeviceByPath failed");
            return false;
        }
    }
    
    m_num = count;
    XnUChar buf[1]; // output buffer
    
    // Init motors
    for (XnUInt32 index = 0; index < m_num; ++index)
    {
        res = xnUSBSendControl(m_devs[index], (XnUSBControlType) 0xc0, 0x10, 0x00, 0x00, buf, sizeof(buf), 0);
        if (res != XN_STATUS_OK) {
            xnPrintError(res, "xnUSBSendControl failed");
            Close();
            return false;
        }
        
        res = xnUSBSendControl(m_devs[index], XN_USB_CONTROL_TYPE_VENDOR, 0x06, 0x01, 0x00, NULL, 0, 0);
        if (res != XN_STATUS_OK) {
            xnPrintError(res, "xnUSBSendControl failed");
            Close();
            return false;
        }
    }
    
    m_isOpen = true;
    
    return true;
}

void KinectMotors::Close()
{
    if (m_isOpen) {
        for (XnUInt32 index = 0; index < m_num; ++index) {
            xnUSBCloseDevice(m_devs[index]);
        }
        m_isOpen = false;
    }
}

bool KinectMotors::Move(int angle)
{
    XnStatus res;
    
    // Send move control requests
    for (XnUInt32 index = 0; index < m_num; ++index)
    {
        res = xnUSBSendControl(m_devs[index], XN_USB_CONTROL_TYPE_VENDOR, 0x31, angle, 0x00, NULL, 0, 0);

        if (res != XN_STATUS_OK)
        {
            xnPrintError(res, "xnUSBSendControl failed");
            return false;
        }
    }
    return true;
}

int main(int argc, char *argv[])
{
    KinectMotors motors;
    
    if (!motors.Open()) // Open motor devices
        return 1;
    
    motors.Move(31); // Move them up to 31 degree

    pause_();
    
    motors.Move(-31); // Move them down to 31 degree.

    pause_();
    
    motors.Move(0);
    return 0;
}

参考资料：

使用OpenNI 控制Kinect 的马达

2013-10-30