In order to improve my English writing skills,I am going to  write the blogs in English form now!

-------------------------------------------------------------------------------------------Luxuriant line-----------------------------------------------------------------------

Today,we will learn how to initialize the kinect and get RGB data form it,then convert the data to a texture,which will be drawn to the windows.

We have two real pieces of kinect-specific code. I will go over these in some detail, and give a fairly hight level overview of the display code

include the header files:

#include <Windows.h>
#include <Ole2.h> #include <gl/GL.h>
#include <gl/GLU.h>
#include <gl/glut.h> #include <NuiApi.h>
#include <NuiImageCamera.h>
#include <NuiSensor.h>

Constants and global variables:

#define width 640
#define height 480 // OpenGL Variables
GLuint textureId; // ID of the texture to contain Kinect RGB Data
GLubyte data[width*height*4]; // BGRA array containing the texture data // Kinect variables
HANDLE rgbStream; // The identifier of the Kinect's RGB Camera
INuiSensor* sensor; // The kinect sensor

Kinect Initialization:

bool initKinect() {
// Get a working kinect sensor
int numSensors;
if (NuiGetSensorCount(&numSensors) < 0 || numSensors < 1) return false;
if (NuiCreateSensorByIndex(0, &sensor) < 0) return false; // Initialize sensor
sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH | NUI_INITIALIZE_FLAG_USES_COLOR);
sensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR, // Depth camera or rgb camera?
NUI_IMAGE_RESOLUTION_640x480, // Image resolution
0, // Image stream flags, e.g. near mode
2, // Number of frames to buffer
NULL, // Event handle
&rgbStream);
return sensor;
}

get an RGB frame from the Kinect:

void getKinectData(GLubyte* dest) {
NUI_IMAGE_FRAME imageFrame;
NUI_LOCKED_RECT LockedRect;
if (sensor->NuiImageStreamGetNextFrame(rgbStream, 0, &imageFrame) < 0) return;
INuiFrameTexture* texture = imageFrame.pFrameTexture;
texture->LockRect(0, &LockedRect, NULL, 0);
 if (LockedRect.Pitch != 0)
{
const BYTE* curr = (const BYTE*) LockedRect.pBits;
const BYTE* dataEnd = curr + (width*height)*4; while (curr < dataEnd) {
*dest++ = *curr++;
}
}
  texture->UnlockRect(0);
sensor->NuiImageStreamReleaseFrame(rgbStream, &imageFrame);
}

Something about the window:

void draw() {
drawKinectData();
glutSwapBuffers();
} void execute() {
glutMainLoop();
} bool init(int argc, char* argv[]) {
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGBA);
glutInitWindowSize(width,height);
glutCreateWindow("Kinect SDK Tutorial");
glutDisplayFunc(draw);
glutIdleFunc(draw);
return true;
}

Display via OpenGL:

  // Initialize textures
glGenTextures(1, &textureId);
glBindTexture(GL_TEXTURE_2D, textureId);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, width, height,
0, GL_BGRA, GL_UNSIGNED_BYTE, (GLvoid*) data);
glBindTexture(GL_TEXTURE_2D, 0); // OpenGL setup
glClearColor(0,0,0,0);
glClearDepth(1.0f);
glEnable(GL_TEXTURE_2D); // Camera setup
glViewport(0, 0, width, height);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, width, height, 0, 1, -1);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
int main(int argc, char* argv[]) {
if (!init(argc, argv)) return 1;
if (!initKinect()) return 1; /* ...OpenGL texture and camera initialization... */ // Main loop
execute();
return 0;
}

Draw a frame to the screen:

void drawKinectData() {
glBindTexture(GL_TEXTURE_2D, textureId);
getKinectData(data);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, width, height, GL_BGRA, GL_UNSIGNED_BYTE, (GLvoid*)data);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glBegin(GL_QUADS);
glTexCoord2f(0.0f, 0.0f);
glVertex3f(0, 0, 0);
glTexCoord2f(1.0f, 0.0f);
glVertex3f(width, 0, 0);
glTexCoord2f(1.0f, 1.0f);
glVertex3f(width, height, 0.0f);
glTexCoord2f(0.0f, 1.0f);
glVertex3f(0, height, 0.0f);
glEnd();
}

The End! Build and run,making sure that your Kinect is plugged in.You should see a window containing a viseo stream of what your Kinect sees.

Draw the RGB data from kinect C++ via opengl的更多相关文章

  1. Kinect SDK C++ - 2. Kinect Depth Data

    Today we will learn how to get depth data from a kinect and what the format of the data is kinect co ...

  2. Sensor信号输出YUV、RGB、RAW DATA、JPEG【转】

    本文转载自:http://blog.csdn.net/southcamel/article/details/8305873 简单来说,YUV: luma (Y) + chroma (UV) 格式, 一 ...

  3. Sensor信号输出YUV、RGB、RAW DATA、JPEG 4种方式区别

    简单来说,YUV: luma (Y) + chroma (UV) 格式, 一般情况下sensor支持YUV422格式,即数据格式是按Y-U-Y-V次序输出的RGB: 传统的红绿蓝格式,比如RGB565 ...

  4. 嵌入式开发之davinci--- 8148/8168/8127 中的图像采集格式Sensor信号输出YUV、RGB、RAW DATA、JPEG 4种方式区别

    简单来说,YUV: luma (Y) + chroma (UV) 格式, 一般情况下sensor支持YUV422格式,即数据格式是按Y-U-Y-V次序输出的RGB: 传统的红绿蓝格式,比如RGB565 ...

  5. IPC网络高清摄像机基础知识4(Sensor信号输出YUV、RGB、RAW DATA、JPEG 4种方式区别) 【转】

    转自:http://blog.csdn.net/times_poem/article/details/51682785 [-] 一 概念介绍 二 两个疑问 三 RAW和JPEG的区别 1 概念说明 3 ...

  6. 最简单的视音频播放示例5:OpenGL播放RGB/YUV

    本文记录OpenGL播放视频的技术.OpenGL是一个和Direct3D同一层面的技术.相比于Direct3D,OpenGL具有跨平台的优势.尽管在游戏领域,DirectX的影响力已渐渐超越OpenG ...

  7. 最简单的视音频播放示例2:GDI播放YUV, RGB

    前一篇文章对“Simplest Media Play”工程作了概括性介绍.后续几篇文章打算详细介绍每个子工程中的几种技术.在记录Direct3D,OpenGL这两种相对复杂的技术之前,打算先记录一种和 ...

  8. 最简单的视音频播放演示样例5:OpenGL播放RGB/YUV

    ===================================================== 最简单的视音频播放演示样例系列文章列表: 最简单的视音频播放演示样例1:总述 最简单的视音频 ...

  9. kinect 深度图与彩色图对齐程序

    //#include "duiqi.hpp" #include "kinect.h" #include <iostream> #include &q ...

随机推荐

  1. FCC高级编程篇之Validate US Telephone Numbers

    Validate US Telephone Numbers Return true if the passed string is a valid US phone number. The user ...

  2. sass的用法小结(三)

    5. 混合器; 如果你的整个网站中有几处小小的样式类似(例如一致的颜色和字体),那么使用变量来统一处理这种情况是非常不错的选择.但是当你的样式变得越来越复杂,你需要大段大段的重用样式的代码,独立的变量 ...

  3. 用jQuery设置多个css样式

    $("#show_one").css({"position":"fixed","top":"0px" ...

  4. 12种CSS BUG解决方法与技巧

    一. 针对浏览器的选择器 这些选择器在你需要针对某款浏览器进行css设计时将非常有用. IE6及其更低版本,本文由52CSS.com整理,转载请注明出处! * html {} IE7及其更低版本 *: ...

  5. 2017年6月28日 python爬虫学习

    1.写入csv文件2.lxml的用法3.自定义字典类的方法4.bytes解码得到str,str编码得到bytes5.json 1 import csv import lxml.html class S ...

  6. bytes、str与unicode

    1.Python3字符序列的类型 bytes -> 原始的8位值(既字节) str -> Unicode字符 2.Python2字符序列的类型 str -> 原始的8位值(既字节) ...

  7. CentOS上手动配置nginx.services

    [Unit] Description=Dynamic web platform based on NGINX and LuaJIT After=network.target remote-fs.tar ...

  8. OpenJudge 1031 Lausanne Capitale Olympique

    Lausanne Capitale Olympique Time Limit: 1000ms Memory Limit: 65536KB This problem will be judged on  ...

  9. FS,FT,DFT,DFS和DTFT的关系

    对于初学数字信号(Digital Signal Processing,DSP)的人来说,这几种变换是最为头疼的,它们是数字信号处理的理论基础,贯穿整个信号的处理. FS:时域上任意连续的周期信号可以分 ...

  10. HDU 5319

    Painter Time Limit: 2000/1000 MS (Java/Others)    Memory Limit: 65536/65536 K (Java/Others) Total Su ...