C++ IDepthFrameSource::get_DepthMinReliableDistance方法代码示例

void KinectDevice::getFrameInformation() {
    // Get the frame information
    IDepthFrameSource *depthSrc;
    IColorFrameSource *colorSrc;
    IInfraredFrameSource *irSrc;
    ILongExposureInfraredFrameSource *hdirSrc;
    IBodyIndexFrameSource *indexSrc;

    IFrameDescription *depthDesc, *colorDesc, *irDesc, *hdirDesc, *indexDesc;

    if (_streams & Streams::DEPTH_STREAM) {
        _sensor->get_DepthFrameSource(&depthSrc);
        depthSrc->get_FrameDescription(&depthDesc);
        depthFrameInfo = FrameInfo(depthDesc);

        // Min/max vals
        depthSrc->get_DepthMinReliableDistance(&depthFrameInfo.minVal);
        depthSrc->get_DepthMaxReliableDistance(&depthFrameInfo.maxVal);

        // Allocate
        depthData =         std::shared_ptr<uint16_t>(new uint16_t[depthFrameInfo.frameSize]);
        prevDepthData =     std::shared_ptr<uint16_t>(new uint16_t[depthFrameInfo.frameSize]);
    }
    else {
        depthData = nullptr;
        prevDepthData = nullptr;
    }

    if (_streams & Streams::COLOR_STREAM) {
        _sensor->get_ColorFrameSource(&colorSrc);
        colorSrc->get_FrameDescription(&colorDesc);
        colorFrameInfo = FrameInfo(colorDesc);

        colorData = std::shared_ptr<uint16_t>(new uint16_t[colorFrameInfo.frameSize]);
    }
    if (_streams & Streams::IR_STREAM) {
        _sensor->get_InfraredFrameSource(&irSrc);
        irSrc->get_FrameDescription(&irDesc);
        irFrameInfo = FrameInfo(irDesc);

        irData = std::shared_ptr<uint16_t>(new uint16_t[irFrameInfo.frameSize]);
    }
    if (_streams & Streams::HDIR_STREAM) {
        _sensor->get_LongExposureInfraredFrameSource(&hdirSrc);
        hdirSrc->get_FrameDescription(&hdirDesc);
        hdirFrameInfo = FrameInfo(hdirDesc);

        hdirData = std::shared_ptr<uint16_t>(new uint16_t[hdirFrameInfo.frameSize]);
    }
    if (_streams & Streams::INDEX_STREAM) {
        _sensor->get_BodyIndexFrameSource(&indexSrc);
        indexSrc->get_FrameDescription(&indexDesc);
        indexFrameInfo = FrameInfo(indexDesc);

        indexData = std::shared_ptr<BYTE>(new BYTE[indexFrameInfo.frameSize]);
    }
}

int main(int argc, char** argv)
{
	// 1a. Get default Sensor
	cout << "Try to get default sensor" << endl;
	IKinectSensor* pSensor = nullptr;
	if (GetDefaultKinectSensor(&pSensor) != S_OK)
	{
		cerr << "Get Sensor failed" << endl;
	}
	else
	{
		// 1b. Open sensor
		cout << "Try to open sensor" << endl;
		if (pSensor->Open() != S_OK)
		{
			cerr << "Can't open sensor" << endl;
		}
		else
		{
			// 2a. Get frame source
			cout << "Try to get source" << endl;
			IDepthFrameSource* pFrameSource = nullptr;
			if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK)
			{
				cerr << "Can't get frame source" << endl;
			}
			else
			{
				// 2b. Get frame description
				int		iWidth = 0;
				int		iHeight = 0;
				IFrameDescription* pFrameDescription = nullptr;
				if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
				{
					pFrameDescription->get_Width(&iWidth);
					pFrameDescription->get_Height(&iHeight);
					pFrameDescription->Release();
					pFrameDescription = nullptr;
				}

				// 2c. get some dpeth only meta
				UINT16 uDepthMin = 0, uDepthMax = 0;
				pFrameSource->get_DepthMinReliableDistance(&uDepthMin);
				pFrameSource->get_DepthMaxReliableDistance(&uDepthMax);
				cout << "Reliable Distance: " << uDepthMin << " - " << uDepthMax << endl;

				// perpare OpenCV
				cv::Mat mDepthImg(iHeight, iWidth, CV_16UC1);
				cv::Mat mImg8bit(iHeight, iWidth, CV_8UC1);
				cv::namedWindow( "Depth Map" );

				// 3a. get frame reader
				cout << "Try to get frame reader" << endl;
				IDepthFrameReader* pFrameReader = nullptr;
				if (pFrameSource->OpenReader(&pFrameReader) != S_OK)
				{
					cerr << "Can't get frame reader" << endl;
				}
				else
				{
					// Enter main loop
					cout << "Enter main loop" << endl;
					while (true)
					{
						// 4a. Get last frame
						IDepthFrame* pFrame = nullptr;
						if (pFrameReader->AcquireLatestFrame(&pFrame) == S_OK)
						{
							// 4c. copy the depth map to image
							if (pFrame->CopyFrameDataToArray(iWidth * iHeight, reinterpret_cast<UINT16*>(mDepthImg.data)) == S_OK)
							{
								// 4d. convert from 16bit to 8bit
								mDepthImg.convertTo(mImg8bit, CV_8U, 255.0f / uDepthMax);
								cv::imshow("Depth Map", mImg8bit);
							}
							else
							{
								cerr << "Data copy error" << endl;
							}

							// 4e. release frame
							pFrame->Release();
						}

						// 4f. check keyboard input
						if (cv::waitKey(30) == VK_ESCAPE){
							break;
						}
					}

					// 3b. release frame reader
					cout << "Release frame reader" << endl;
					pFrameReader->Release();
					pFrameReader = nullptr;
				}

				// 2d. release Frame source
				cout << "Release frame source" << endl;
				pFrameSource->Release();
				pFrameSource = nullptr;
//.........这里部分代码省略.........

//.........这里部分代码省略.........
	IFrameDescription* pDepthDescription;
	hResult = pDepthSource->get_FrameDescription(&pDepthDescription);
	if (FAILED(hResult)) {
		std::cerr << "Error : IDepthFrameSource::get_FrameDescription()" << std::endl;
		return -1;
	}

	int depthWidth = 0;
	int depthHeight = 0;
	pDepthDescription->get_Width(&depthWidth); // 512
	pDepthDescription->get_Height(&depthHeight); // 424
	unsigned int depthBufferSize = depthWidth * depthHeight * sizeof(unsigned short);

	cv::Mat depthBufferMat(depthHeight, depthWidth, CV_16UC1);
	UINT16* pDepthBuffer = nullptr;
	cv::Mat depthMat(depthHeight, depthWidth, CV_8UC1);
	cv::namedWindow("Depth");

	//UINT32 nBodyIndexSize = 0;
	//BYTE* pIndexBuffer = nullptr;//This hasn't been safe realease yet

	// Coordinate Mapper
	ICoordinateMapper* pCoordinateMapper;
	hResult = pSensor->get_CoordinateMapper(&pCoordinateMapper);
	if (FAILED(hResult)) {
		std::cerr << "Error : IKinectSensor::get_CoordinateMapper()" << std::endl;
		return -1;
	}

	cv::Mat coordinateMapperMat(depthHeight, depthWidth, CV_8UC4);
	cv::namedWindow("CoordinateMapper");

	unsigned short minDepth, maxDepth;
	pDepthSource->get_DepthMinReliableDistance(&minDepth);
	pDepthSource->get_DepthMaxReliableDistance(&maxDepth);




	while (1) {

		double t = (double)getTickCount();


		// Color Frame
		IColorFrame* pColorFrame = nullptr;
		hResult = pColorReader->AcquireLatestFrame(&pColorFrame);
		if (SUCCEEDED(hResult)) {
			hResult = pColorFrame->CopyConvertedFrameDataToArray(colorBufferSize, reinterpret_cast<BYTE*>(colorBufferMat.data), ColorImageFormat::ColorImageFormat_Bgra);
			if (SUCCEEDED(hResult)) {
				cv::resize(colorBufferMat, colorMat, cv::Size(), 0.5, 0.5);
			}
		}
		//SafeRelease( pColorFrame );

		// Depth Frame
		IDepthFrame* pDepthFrame = nullptr;
		hResult = pDepthReader->AcquireLatestFrame(&pDepthFrame);

		if (SUCCEEDED(hResult)) {
			hResult = pDepthFrame->AccessUnderlyingBuffer(&depthBufferSize, reinterpret_cast<UINT16**>(&depthBufferMat.data));

		}

		if (SUCCEEDED(hResult)) {
			hResult = pDepthFrame->AccessUnderlyingBuffer(&depthBufferSize, &pDepthBuffer);

int main( )
{
	cv::setUseOptimized( true );

	// Sensor
	IKinectSensor* pSensor;
	HRESULT hResult = S_OK;
	hResult = GetDefaultKinectSensor( &pSensor );
	if( FAILED( hResult ) ){
		std::cerr << "Error : GetDefaultKinectSensor" << std::endl;
		return -1;
	}

	hResult = pSensor->Open();
	if( FAILED( hResult ) ){
		std::cerr << "Error : IKinectSensor::Open()" << std::endl;
		return -1;
	}

	// Source
	IDepthFrameSource* pDepthSource;
	hResult = pSensor->get_DepthFrameSource( &pDepthSource );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IKinectSensor::get_DepthFrameSource()" << std::endl;
		return -1;
	}

	// Reader
	IDepthFrameReader* pDepthReader;
	hResult = pDepthSource->OpenReader( &pDepthReader );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IDepthFrameSource::OpenReader()" << std::endl;
		return -1;
	}

	// Description
	IFrameDescription* pDescription;
	hResult = pDepthSource->get_FrameDescription( &pDescription );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IDepthFrameSource::get_FrameDescription()" << std::endl;
		return -1;
	}

	int width = 0;
	int height = 0;
	pDescription->get_Width( &width ); // 512
	pDescription->get_Height( &height ); // 424
	unsigned int bufferSize = width * height * sizeof( unsigned short );

	// Range ( Range of Depth is 500-8000[mm], Range of Detection is 500-4500[mm] ) 
	unsigned short min = 0;
	unsigned short max = 0;
	pDepthSource->get_DepthMinReliableDistance( &min ); // 500
	pDepthSource->get_DepthMaxReliableDistance( &max ); // 4500
	std::cout << "Range : " << min << " - " << max << std::endl;

	cv::Mat bufferMat( height, width, CV_16UC1 );
	cv::Mat depthMat( height, width, CV_8UC1 );
	cv::namedWindow( "Depth" );

	while( 1 ){
		// Frame
		IDepthFrame* pDepthFrame = nullptr;
		hResult = pDepthReader->AcquireLatestFrame( &pDepthFrame );
		if( SUCCEEDED( hResult ) ){
			hResult = pDepthFrame->AccessUnderlyingBuffer( &bufferSize, reinterpret_cast<UINT16**>( &bufferMat.data ) );
			if( SUCCEEDED( hResult ) ){
				bufferMat.convertTo( depthMat, CV_8U, -255.0f / 8000.0f, 255.0f );
			}
		}
		SafeRelease( pDepthFrame );

		cv::imshow( "Depth", depthMat );

		if( cv::waitKey( 30 ) == VK_ESCAPE ){
			break;
		}
	}

	SafeRelease( pDepthSource );
	SafeRelease( pDepthReader );
	SafeRelease( pDescription );
	if( pSensor ){
		pSensor->Close();
	}
	SafeRelease( pSensor );
	cv::destroyAllWindows();

	return 0;
}