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。

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

  2 

  3 #include <XnUSB.h>

  4 #include <cstdio>

  5 

  6 #ifdef _WIN32

  7 #include <Windows.h>

  8 void pause_ ()

  9 {

 10     Sleep(1000);

 11 }

 12 #else

 13 #include <unistd.h>

 14 void pause_ ()

 15 {

 16     sleep(1);

 17 }

 18 #endif

 19 

 20 /**

 21  * Class to control Kinect's motor.

 22  */

 23 class KinectMotors

 24 {

 25 public:

 26     enum { MaxDevs = 16 };

 27 

 28 public:

 29     KinectMotors();

 30     virtual ~KinectMotors();

 31     

 32     /**

 33         * Open device.

 34         * @return true if succeeded, false - overwise

 35         */

 36     bool Open();

 37     

 38     /**

 39         * Close device.

 40         */

 41     void Close();

 42     

 43     /**

 44         * Move motor up or down to specified angle value.

 45         * @param angle angle value

 46         * @return true if succeeded, false - overwise

 47         */

 48     bool Move(int angle);

 49     

 50 private:

 51     XN_USB_DEV_HANDLE m_devs[MaxDevs];

 52     XnUInt32 m_num;

 53     bool m_isOpen;

 54 };

 55 

 56 KinectMotors::KinectMotors()

 57 {

 58     m_isOpen = false;

 59 }

 60 

 61 KinectMotors::~KinectMotors()

 62 {

 63     Close();

 64 }

 65 

 66 bool KinectMotors::Open()

 67 {

 68     const XnUSBConnectionString *paths;

 69     XnUInt32 count;

 70     XnStatus res;

 71     

 72     // Init OpenNI USB

 73     res = xnUSBInit();

 74     if (res != XN_STATUS_OK)

 75     {

 76         xnPrintError(res, "xnUSBInit failed");

 77         return false;

 78     }

 79     

 80     // Open all "Kinect motor" USB devices

 81     res = xnUSBEnumerateDevices(0x045E /* VendorID */, 0x02B0 /*ProductID*/, &paths, &count);

 82     if (res != XN_STATUS_OK)

 83     {

 84         xnPrintError(res, "xnUSBEnumerateDevices failed");

 85         return false;

 86     }

 87     

 88     // Open devices

 89     for (XnUInt32 index = 0; index < count; ++index)

 90     {

 91         res = xnUSBOpenDeviceByPath(paths[index], &m_devs[index]);

 92         if (res != XN_STATUS_OK) {

 93             xnPrintError(res, "xnUSBOpenDeviceByPath failed");

 94             return false;

 95         }

 96     }

 97     

 98     m_num = count;

 99     XnUChar buf[1]; // output buffer

100     

101     // Init motors

102     for (XnUInt32 index = 0; index < m_num; ++index)

103     {

104         res = xnUSBSendControl(m_devs[index], (XnUSBControlType) 0xc0, 0x10, 0x00, 0x00, buf, sizeof(buf), 0);

105         if (res != XN_STATUS_OK) {

106             xnPrintError(res, "xnUSBSendControl failed");

107             Close();

108             return false;

109         }

110         

111         res = xnUSBSendControl(m_devs[index], XN_USB_CONTROL_TYPE_VENDOR, 0x06, 0x01, 0x00, NULL, 0, 0);

112         if (res != XN_STATUS_OK) {

113             xnPrintError(res, "xnUSBSendControl failed");

114             Close();

115             return false;

116         }

117     }

118     

119     m_isOpen = true;

120     

121     return true;

122 }

123 

124 void KinectMotors::Close()

125 {

126     if (m_isOpen) {

127         for (XnUInt32 index = 0; index < m_num; ++index) {

128             xnUSBCloseDevice(m_devs[index]);

129         }

130         m_isOpen = false;

131     }

132 }

133 

134 bool KinectMotors::Move(int angle)

135 {

136     XnStatus res;

137     

138     // Send move control requests

139     for (XnUInt32 index = 0; index < m_num; ++index)

140     {

141         res = xnUSBSendControl(m_devs[index], XN_USB_CONTROL_TYPE_VENDOR, 0x31, angle, 0x00, NULL, 0, 0);

142 

143         if (res != XN_STATUS_OK)

144         {

145             xnPrintError(res, "xnUSBSendControl failed");

146             return false;

147         }

148     }

149     return true;

150 }

151 

152 int main(int argc, char *argv[])

153 {

154     KinectMotors motors;

155     

156     if (!motors.Open()) // Open motor devices

157         return 1;

158     

159     motors.Move(31); // Move them up to 31 degree

160 

161     pause_();

162     

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

164 

165     pause_();

166     

167     motors.Move(0);

168     return 0;

169 }

参考资料：

使用OpenNI 控制Kinect 的马达

 

2013-10-30