kinect获取实时深度数据

#include <stdio.h>
#include <Kinect.h>
#include <windows.h>
#include <highgui.h>
#include <cv.h>

using namespace cv;

// 转换depth图像到cv::Mat
Mat ConvertMat(const UINT16* pBuffer, int nWidth, int nHeight)
{
	Mat img(nHeight, nWidth, CV_8UC1);
	uchar* p_mat = img.data;//指向头指针

	const UINT16* pBufferEnd = pBuffer + (nWidth * nHeight);//指向最后一个元素的指针

	while (pBuffer < pBufferEnd)//16位最大值为65536
	{
		*p_mat++ = *pBuffer++ / 65536.0 * 256;
	}
	//free(p_mat);
	return img;
}

int main()
{
	IKinectSensor*          m_pKinectSensor;
	IDepthFrameReader*      m_pDepthFrameReader;
	IFrameDescription* pFrameDescription = NULL;
	IDepthFrameSource* pDepthFrameSource = NULL;

	HRESULT hr = GetDefaultKinectSensor(&m_pKinectSensor);//获取默认kinect传感器
	assert(hr >= 0);
	printf("打开kinect传感器成功\n");

	hr = m_pKinectSensor->Open();//打开传感器
	assert(hr >= 0);
	hr = m_pKinectSensor->get_DepthFrameSource(&pDepthFrameSource);//获得深度信息传感器
	assert(hr >= 0);
	hr = pDepthFrameSource->OpenReader(&m_pDepthFrameReader);//打开深度信息帧读取器
	assert(hr >= 0);
	int i = 0;
	while (1)
	{
		//		IColorFrame* pColorFrame = NULL;
		//		while ((hr < 0) || (NULL == pColorFrame))//循环直到获取到最近的一帧
		IDepthFrame* pDepthFrame = NULL;
		while (hr < 0 || pDepthFrame == NULL)
		hr = m_pDepthFrameReader->AcquireLatestFrame(&pDepthFrame);//由于有时候获取不到，因此循环获取最近的帧

		assert(hr >= 0);
		hr = pDepthFrame->get_FrameDescription(&pFrameDescription);//获取帧的像素信息（宽和高）
		int depth_width, depth_height;
		pFrameDescription->get_Width(&depth_width);
		pFrameDescription->get_Height(&depth_height);
		//printf("width=%d height=%d\n", depth_width, depth_height);

		USHORT nDepthMinReliableDistance = 0;//获取最大、最小深度距离信息
		USHORT nDepthMaxReliableDistance = 0;
		assert(hr >= 0);
		hr = pDepthFrame->get_DepthMinReliableDistance(&nDepthMinReliableDistance);
		assert(hr >= 0);
		hr = pDepthFrame->get_DepthMaxReliableDistance(&nDepthMaxReliableDistance);
		
		printf("%d  nDepthMinD=%d nDepthMaxD=%d\n", i++,  nDepthMinReliableDistance, nDepthMaxReliableDistance);

		UINT nBufferSize_depth = 0;
		UINT16 *pBuffer_depth = NULL;
		pDepthFrame->AccessUnderlyingBuffer(&nBufferSize_depth, &pBuffer_depth);//获取图像像素个数和指向图像的指针
		

		//转换为MAT格式
		Mat depthImg_show = ConvertMat(pBuffer_depth, depth_width, depth_height);//转换为8位的mat
		pDepthFrame->Release();

		equalizeHist(depthImg_show, depthImg_show);//均衡化，为了提高显示效果

		//imwrite("MyFirstKinectImg.jpg", depthImg_show);//保存图片
		//用opencv显示

		namedWindow("display");
		imshow("display", depthImg_show);

		if (27 == waitKey(3) || 'Q' == waitKey(3) || 'q' == waitKey(3))
			return 0;

	}
}