Kinect SDK1.0 OpenCV显示彩色、深度、骨骼图

//好久没有跟新了，这次带来多线程的代码

// Win32TestPure.cpp : 定义控制台应用程序的入口点。
#include "stdafx.h"
#include <windows.h>
#include <opencv2\opencv.hpp>
#include <mmsystem.h>
#include <assert.h>
#include <strsafe.h>
#include "NuiApi.h"
using namespace cv;
using namespace	std;
#define COLOR_WIDTH		640
#define COLOR_HIGHT		480
#define DEPTH_WIDTH		320
#define DEPTH_HIGHT		240
#define SKELETON_WIDTH 640
#define SKELETON_HIGHT 480
#define CHANNEL			3
BYTE buf[DEPTH_WIDTH*DEPTH_HIGHT*CHANNEL];
int drawColor(HANDLE h);
int drawDepth(HANDLE h);
int drawSkeleton();
//-----------------------------------------------------------------------------------
HANDLE h1;
HANDLE h3;
HANDLE h5;
HANDLE h2;
HANDLE h4;
DWORD WINAPI VideoFunc(LPVOID pParam)
{
	cout<<"video start!"<<endl;
	while(TRUE)
	{
		if(WaitForSingleObject(h1,INFINITE)==WAIT_OBJECT_0)
		{
			drawColor(h2);
			
		}
	//	Sleep(10);
		cout<<"video"<<endl;
	}
	
}
DWORD WINAPI DepthFunc(LPVOID pParam)
{

	cout<<"depth start!"<<endl;
	while(TRUE)
	{
		if(WaitForSingleObject(h3,INFINITE)==WAIT_OBJECT_0)
		{
			drawDepth(h4);	
			
		}
	//	Sleep(10);
		cout<<"depth"<<endl;
	}
}
DWORD WINAPI SkeletonFunc(LPVOID pParam)
{
//	HANDLE h = (HANDLE)pParam;
	cout<<"skeleton start!"<<endl;
	while(TRUE)
	{
	if(WaitForSingleObject(h3,INFINITE)==WAIT_OBJECT_0)
		drawSkeleton();
	
//	Sleep(10);
	cout<<"skeleton"<<endl;
	}
}
//-----------------------------------------------------------------------------------
int drawColor(HANDLE h)
{
	const NUI_IMAGE_FRAME * pImageFrame = NULL;
	HRESULT hr = NuiImageStreamGetNextFrame( h, 0, &pImageFrame );
	if( FAILED( hr ) )
	{
		cout<<"Get Color Image Frame Failed"<<endl;
		return -1;
	}
	INuiFrameTexture * pTexture = pImageFrame->pFrameTexture;
	NUI_LOCKED_RECT LockedRect;
	pTexture->LockRect( 0, &LockedRect, NULL, 0 );
	if( LockedRect.Pitch != 0 )
	{
		BYTE * pBuffer = (BYTE*) LockedRect.pBits;
		Mat temp(COLOR_HIGHT,COLOR_WIDTH,CV_8UC4,pBuffer);
		imshow("b",temp);
		waitKey(1);
	}
	NuiImageStreamReleaseFrame( h, pImageFrame );
	return 0;
}

int drawDepth(HANDLE h)
{
	const NUI_IMAGE_FRAME * pImageFrame = NULL;
	HRESULT hr = NuiImageStreamGetNextFrame( h, 0, &pImageFrame );
	if( FAILED( hr ) )
	{
		cout<<"Get Depth Image Frame Failed"<<endl;
		return -1;
	}
	INuiFrameTexture * pTexture = pImageFrame->pFrameTexture;
	NUI_LOCKED_RECT LockedRect;
	pTexture->LockRect( 0, &LockedRect, NULL, 0 );
	if( LockedRect.Pitch != 0 )
	{
		USHORT * pBuff = (USHORT*) LockedRect.pBits;
		for(int i=0;i<DEPTH_WIDTH*DEPTH_HIGHT;i++)
		{
			BYTE index = pBuff[i]&0x07;
			USHORT realDepth = (pBuff[i]&0xFFF8)>>3;
			BYTE scale = 255 - (BYTE)(256*realDepth/0x0fff);
			buf[CHANNEL*i] = buf[CHANNEL*i+1] = buf[CHANNEL*i+2] = 0;
			switch( index )
			{
			case 0:
				buf[CHANNEL*i]=scale/2;
				buf[CHANNEL*i+1]=scale/2;
				buf[CHANNEL*i+2]=scale/2;
				break;
			case 1:
				buf[CHANNEL*i]=scale;
				break;
			case 2:
				buf[CHANNEL*i+1]=scale;
				break;
			case 3:
				buf[CHANNEL*i+2]=scale;
				break;
			case 4:
				buf[CHANNEL*i]=scale;
				buf[CHANNEL*i+1]=scale;
				break;
			case 5:
				buf[CHANNEL*i]=scale;
				buf[CHANNEL*i+2]=scale;
				break;
			case 6:
				buf[CHANNEL*i+1]=scale;
				buf[CHANNEL*i+2]=scale;
				break;
			case 7:
				buf[CHANNEL*i]=255-scale/2;
				buf[CHANNEL*i+1]=255-scale/2;
				buf[CHANNEL*i+2]=255-scale/2;
				break;
			}
		}
	Mat b(DEPTH_HIGHT,DEPTH_WIDTH,CV_8UC3,buf);
	imshow("depth",b);
	waitKey(1);
	}
	NuiImageStreamReleaseFrame( h, pImageFrame );
	return 0;
}

int drawSkeleton()
{
	NUI_SKELETON_FRAME SkeletonFrame;
	cv::Point pt[20];
	Mat skeletonMat=Mat(SKELETON_HIGHT,SKELETON_WIDTH,CV_8UC3,Scalar(0,0,0));
	HRESULT hr = NuiSkeletonGetNextFrame( 0, &SkeletonFrame );
	if( FAILED( hr ) )
	{
		cout<<"Get Skeleton Image Frame Failed"<<endl;
		return -1;
	}
	bool bFoundSkeleton = false;
	for( int i = 0 ; i < NUI_SKELETON_COUNT ; i++ )
	{
		if( SkeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED )
		{
			bFoundSkeleton = true;
		}
	}
	// Has skeletons!
	if( bFoundSkeleton )
	{
		NuiTransformSmooth(&SkeletonFrame,NULL);
		for( int i = 0 ; i < NUI_SKELETON_COUNT ; i++ )
		{
			if( SkeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED )
			{
				for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; j++)
				{
					float fx,fy;
					NuiTransformSkeletonToDepthImage( SkeletonFrame.SkeletonData[i].SkeletonPositions[j], &fx, &fy );
					pt[j].x = (int) ( fx * SKELETON_WIDTH )/320;
					pt[j].y = (int) ( fy * SKELETON_HIGHT )/240;
					circle(skeletonMat,pt[j],5,CV_RGB(255,0,0));
				}
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HEAD],pt[NUI_SKELETON_POSITION_SHOULDER_CENTER],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SHOULDER_CENTER],pt[NUI_SKELETON_POSITION_SPINE],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SPINE],pt[NUI_SKELETON_POSITION_HIP_CENTER],CV_RGB(0,255,0));

				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HAND_RIGHT],pt[NUI_SKELETON_POSITION_WRIST_RIGHT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_WRIST_RIGHT],pt[NUI_SKELETON_POSITION_ELBOW_RIGHT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_ELBOW_RIGHT],pt[NUI_SKELETON_POSITION_SHOULDER_RIGHT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SHOULDER_RIGHT],pt[NUI_SKELETON_POSITION_SHOULDER_CENTER],CV_RGB(0,255,0));

				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SHOULDER_CENTER],pt[NUI_SKELETON_POSITION_SHOULDER_LEFT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SHOULDER_LEFT],pt[NUI_SKELETON_POSITION_ELBOW_LEFT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_ELBOW_LEFT],pt[NUI_SKELETON_POSITION_WRIST_LEFT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_WRIST_LEFT],pt[NUI_SKELETON_POSITION_HAND_LEFT],CV_RGB(0,255,0));

				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HIP_CENTER],pt[NUI_SKELETON_POSITION_HIP_RIGHT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HIP_RIGHT],pt[NUI_SKELETON_POSITION_KNEE_RIGHT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_KNEE_RIGHT],pt[NUI_SKELETON_POSITION_ANKLE_RIGHT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_ANKLE_RIGHT],pt[NUI_SKELETON_POSITION_FOOT_RIGHT],CV_RGB(0,255,0));

				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HIP_CENTER],pt[NUI_SKELETON_POSITION_HIP_LEFT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HIP_LEFT],pt[NUI_SKELETON_POSITION_KNEE_LEFT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_KNEE_LEFT],pt[NUI_SKELETON_POSITION_ANKLE_LEFT],CV_RGB(0,255,0));
				cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_ANKLE_LEFT],pt[NUI_SKELETON_POSITION_FOOT_LEFT],CV_RGB(0,255,0));
			}
		}
	}
	imshow("skeleton",skeletonMat);
	waitKey(1);
	return 0;
}

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

	//初始化NUI
	HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX|NUI_INITIALIZE_FLAG_USES_COLOR|NUI_INITIALIZE_FLAG_USES_SKELETON);
	if( hr != S_OK )
	{
		cout<<"NuiInitialize failed"<<endl;
		return hr;
	}
	//打开KINECT设备的彩色图信息通道
	h1 = CreateEvent( NULL, TRUE, FALSE, NULL );
	h2 = NULL;
	hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR,NUI_IMAGE_RESOLUTION_640x480, 0, 2, h1, &h2);
	if( FAILED( hr ) )
	{
		cout<<"Could not open image stream video"<<endl;
		return hr;
	}
	h3 = CreateEvent( NULL, TRUE, FALSE, NULL );
	h4 = NULL;
	hr = NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_320x240, 0, 2, h3, &h4);
	if( FAILED( hr ) )
	{
		cout<<"Could not open depth stream video"<<endl;
		return hr;
	}
	h5 = CreateEvent( NULL, TRUE, FALSE, NULL );
	hr = NuiSkeletonTrackingEnable( h5, 0 );
	if( FAILED( hr ) )
	{
		cout<<"Could not open skeleton stream video"<<endl;
		return hr;
	}
		HANDLE hThread1,hThread2,hThread3;
		hThread1 = CreateThread(NULL,0,VideoFunc,h2,0,NULL);
		hThread2 = CreateThread(NULL,0,DepthFunc,h4,0,NULL);
		hThread3 = CreateThread(NULL,0,SkeletonFunc,NULL,0,NULL);
		CloseHandle(hThread1);
		CloseHandle(hThread2);
		CloseHandle(hThread3);
		Sleep(10000);
	NuiShutdown();
	return 0;
}

欢迎指正和交流~