Kinect开发(3)RGB数据获取

    RGB数据的获取与景深数据获取类似，不同的就是数据帧的数据格式是openni::RGB888Pixel类型的。直接通过代码来了解：

#include <conio.h>
#include <iostream>
using namespace std;

#include <OpenNI.h>
#pragma comment(lib, "openni2.lib")

#include <opencv/cv.h>
#include <opencv/highgui.h>
#pragma comment(lib, "opencv_core244.lib")
#pragma comment(lib, "opencv_highgui244.lib")
#pragma comment(lib, "opencv_imgproc244.lib")

class NewColorFrameListener
    : public openni::VideoStream::NewFrameListener
{
public:
    virtual void onNewFrame(openni::VideoStream& stream)
    {
        openni::VideoFrameRef frame;
        stream.readFrame(&frame);
        if (frame.isValid())
        {
            if (frame.getSensorType() == openni::SENSOR_COLOR)
            {
                cv::Mat rgbImg(frame.getHeight(), frame.getWidth(), CV_8UC3, (void*)frame.getData());
                cv::Mat bgrImg;
                cvtColor(rgbImg, bgrImg, CV_RGB2BGR);
                IplImage* img = cvCreateImage(cvSize(frame.getWidth(), frame.getHeight()), 8, 3);
                img->imageData = (char*)bgrImg.data;
                cvShowImage("wnd", img);
                cvReleaseImage(&img);
            }
        }
    }
};

int main()
{
    openni::Status rc = openni::STATUS_OK;
    NewColorFrameListener listener;
    rc = openni::OpenNI::initialize();
    if (rc != openni::STATUS_OK)
    {
        cout<<"initialize failed:"<<openni::OpenNI::getExtendedError()<<endl;
        return 1;
    }
    openni::Device device;
    rc = device.open(openni::ANY_DEVICE);
    if (rc != openni::STATUS_OK)
    {
        openni::OpenNI::shutdown();
        cout<<"open device failed:"<<openni::OpenNI::getExtendedError()<<endl;
        return 0;
    }
    openni::VideoStream colorStream;
    rc = colorStream.create(device, openni::SENSOR_COLOR);
    if (rc != openni::STATUS_OK)
    {
        openni::OpenNI::shutdown();
        cout<<"create color stream failed:"<<openni::OpenNI::getExtendedError()<<endl;
        return 0;
    }
    cvNamedWindow("wnd", CV_WINDOW_AUTOSIZE);
    openni::VideoFrameRef frame;
    colorStream.start();
    colorStream.addNewFrameListener(&listener);
    while (true)
    {
        if (cvWaitKey(30) == 27)
            break;
    }

    cvDestroyWindow("wnd");
    colorStream.stop();
    colorStream.destroy();
    device.close();
    openni::OpenNI::shutdown();
    return 0;
}

    其中，38-80行的main函数就不用多说了，基本与景深数据的获取类似。

    在NewColorFrameListener类中的onNewFrame方法里处理并显示RGB数据。我们直接把相应的数据通过OpenCV来展示，注意，由于Kinect获取的格式是RGB的，而OpenCV处理数据的内部结构是BGR方式排列的，所以，在显示之前，需要进行一次颜色空间的转换。直接通过cvtColor方法转换即可。