博主好细心，代码基本上帖过来就可以用，注释掉的部分改成文件输出就可以了！

#include "stdafx.h"

#include "kinect.h"

#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 _tmain(int argc, _TCHAR* argv[])

{

// 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;

}

ICoordinateMapper* m_pCoordinateMapper=NULL;

hr = m_pKinectSensor->get_CoordinateMapper(&m_pCoordinateMapper);

ColorSpacePoint* m_pColorCoordinates = new ColorSpacePoint[512 * 424];

HRESULT hr = m_pCoordinateMapper->MapDepthFrameToColorSpace(512 * 424, depthData, 512 * 424, m_pColorCoordinates);

Mat i_depthToRgb(424, 512, CV_8UC4);

if (SUCCEEDED(hr))

{

for (int i = 0; i < 424 * 512; i++)

{

ColorSpacePoint p = m_pColorCoordinates[i];

if (p.X != -std::numeric_limits::infinity() && p.Y != -std::numeric_limits::infinity())

{

int colorX = static_cast(p.X + 0.5f);

int colorY = static_cast(p.Y + 0.5f);

if ((colorX >= 0 && colorX < 1920) && (colorY >= 0 && colorY < 1080))

{

i_depthToRgb.data[i * 4] = i_rgb.data[(colorY * 1920 + colorX) * 4];

i_depthToRgb.data[i * 4 + 1] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 1];

i_depthToRgb.data[i * 4 + 2] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 2];

i_depthToRgb.data[i * 4 + 3] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 3];

}

}

}

}

imshow("rgb2depth", i_depthToRgb);

if (waitKey(1) == VK_ESCAPE)

break;

CameraSpacePoint* m_pCameraCoordinates = new CameraSpacePoint[512 * 424];

if (SUCCEEDED(hr))

{

HRESULT hr = m_pCoordinateMapper->MapDepthFrameToCameraSpace(512 * 424, depthData, 512 * 424, m_pCameraCoordinates);

}

if (SUCCEEDED(hr))

{

for (int i = 0; i < 512 * 424; i++)

{

CameraSpacePoint p = m_pCameraCoordinates[i];

if (p.X != -std::numeric_limits::infinity() && p.Y != -std::numeric_limits::infinity() && p.Z != -std::numeric_limits::infinity())

{

float cameraX = static_cast(p.X);

float cameraY = static_cast(p.Y);

float cameraZ = static_cast(p.Z);

//cout << "x: " << cameraX << "y: " << cameraY << "z: " << cameraZ << endl;

//GLubyte *rgb = new GLubyte();

//rgb[2] = i_depthToRgb.data[i * 4 + 0];

//rgb[1] = i_depthToRgb.data[i * 4 + 1];

//rgb[0] = i_depthToRgb.data[i * 4 + 2];

//// 显示点

//glColor3ubv(rgb);

//glVertex3f(cameraX, -cameraY, cameraZ);

}

}

}

}

// 显示

/*imshow("rgb", i_rgb);

if (waitKey(1) == VK_ESCAPE)

break;*/

imshow("depth", i_depth);

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;

}

我们实验室的一帧数据，哈哈！

上面的代码有内存泄露，程序运行一段时间把我的机器物理内存都占满了，下面代码更新一下！