Kinect v2在VS2013与openCV 2.4.9 中环境配置

年末了，才想起导师交代的任务还没开始做。所以网上资料一顿找，将Kinect2.0在win10 64位 VS2013以及opencv2.4.9 的环境配置整理一下。

首先是你要装Kinect2.0的驱动，需要下载微软提供的SDK，这里给出链接：

https://www.microsoft.com/en-us/download/details.aspx?id=44561

接下来，我们打开VS2013新建C++控制台应用程序

配置opencv2.4.9以及Kinect2.0

在属性中

VC++目录中 

包含目录：（找到opencv安装的目录中）,点前面是你们自己的安装路径

.\opencv\build\include\opencv

.\opencv\build\include\opencv2

.\opencv\build\include

$(KINECTSDK20_DIR)\inc         

-------KINECTSDK20_DIR是你安装了SDK以后，在系统环境变量中的值，默认安装应该都会是这个路径，如果没有，自己手动添加环境变量即可

库目录：

.\opencv\build\x86\vc12\lib

$(KINECTSDK20_DIR)\lib\x86

这里x86和x64 视你的编译环境而定，x64不行的话就换成x86

在链接器——>输入——>附加依赖项中添加

opencv2.4.9 debug库

opencv_calib3d249d.lib
opencv_contrib249d.lib
opencv_core249d.lib
opencv_features2d249d.lib
opencv_flann249d.lib
opencv_gpu249d.lib
opencv_highgui249d.lib
opencv_imgproc249d.lib
opencv_legacy249d.lib
opencv_ml249d.lib
opencv_nonfree249d.lib
opencv_objdetect249d.lib
opencv_ocl249d.lib
opencv_photo249d.lib
opencv_stitching249d.lib
opencv_superres249d.lib
opencv_ts249d.lib
opencv_video249d.lib
opencv_videostab249d.lib

以及Kinect2.0 库

Kinect20.VisualGestureBuilder.lib
Kinect20.lib
Kinect20.Face.lib
Kinect20.Fusion.lib

环境配置就是这样

这里放一个小demo，进行测试，效果是获取Kinect彩色图 深度图和红外图

原始代码来自（http://blog.csdn.net/jiaojialulu/article/details/53087988），我做了些许改动，编译通过运行

#include  
#include 
#include   
#include   
using namespace cv;
using namespace std;

// 安全释放指针
template
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
	if (pInterfaceToRelease != NULL)
	{
		pInterfaceToRelease->Release();
		pInterfaceToRelease = NULL;
	}
}

int main()
{
	// 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);

	UINT16 *depthData = new UINT16[424 * 512];
	IMultiSourceFrame* m_pMultiFrame = nullptr;
	while (true)
	{
		// 获取新的一个多源数据帧
		hr = m_pMultiFrameReader->AcquireLatestFrame(&m_pMultiFrame);
		if (FAILED(hr) || !m_pMultiFrame)
		{
			//cout << "!!!" << endl;
			continue;
		}

		// 从多源数据帧中分离出彩色数据，深度数据和红外数据
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_ColorFrameReference(&m_pColorFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pColorFrameReference->AcquireFrame(&m_pColorFrame);
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_DepthFrameReference(&m_pDepthFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pDepthFrameReference->AcquireFrame(&m_pDepthFrame);
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_InfraredFrameReference(&m_pInfraredFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pInfraredFrameReference->AcquireFrame(&m_pInfraredFrame);

		// color拷贝到图片中
		UINT nColorBufferSize = 1920 * 1080 * 4;
		if (SUCCEEDED(hr))
			hr = m_pColorFrame->CopyConvertedFrameDataToArray(nColorBufferSize, reinterpret_cast(i_rgb.data), ColorImageFormat::ColorImageFormat_Bgra);

		// depth拷贝到图片中
		if (SUCCEEDED(hr))
		{
			hr = m_pDepthFrame->CopyFrameDataToArray(424 * 512, depthData);
			for (int i = 0; i < 512 * 424; i++)
			{
				// 0-255深度图，为了显示明显，只取深度数据的低8位
				BYTE intensity = static_cast(depthData[i] % 256);
				reinterpret_cast(i_depth.data)[i] = intensity;
			}

			// 实际是16位unsigned int数据
			//hr = m_pDepthFrame->CopyFrameDataToArray(424 * 512, reinterpret_cast(i_depth.data));
		}

		// infrared拷贝到图片中
		if (SUCCEEDED(hr))
		{
			hr = m_pInfraredFrame->CopyFrameDataToArray(424 * 512, reinterpret_cast(i_ir.data));
		}

		// 显示
		imshow("rgb", i_rgb);
		if (waitKey(1) == VK_ESCAPE)
			break;
		imshow("depth", i_depth);
		if (waitKey(1) == VK_ESCAPE)
			break;
		imshow("ir", i_ir);
		if (waitKey(1) == VK_ESCAPE)
			break;

		// 释放资源
		SafeRelease(m_pColorFrame);
		SafeRelease(m_pDepthFrame);
		SafeRelease(m_pInfraredFrame);
		SafeRelease(m_pColorFrameReference);
		SafeRelease(m_pDepthFrameReference);
		SafeRelease(m_pInfraredFrameReference);
		SafeRelease(m_pMultiFrame);
	}
	// 关闭窗口，设备
	cv::destroyAllWindows();
	m_pKinectSensor->Close();
	std::system("pause");
	return 0;
}