C++ ImageGenerator::Create方法代码示例

void mixRGB_Depth()
{
	bool bShouldRun = true;
	int c;

	XnStatus nRetVal = XN_STATUS_OK;
	Context context;

	// Initialize context object
	nRetVal = context.Init();

	// Check error code
	if (nRetVal)
		printf("Error: %s", xnGetStatusString(nRetVal));

	context.SetGlobalMirror(true);

	//Create Depth generator node
	DepthGenerator depth;
	nRetVal = depth.Create(context);
	// Check error code
	if (nRetVal)
		printf("Error: %s", xnGetStatusString(nRetVal));

	// Create an ImageGenetor node
	ImageGenerator image;
	nRetVal = image.Create(context);
	if (nRetVal)
		printf("Error: %s", xnGetStatusString(nRetVal));

	// Sync the DepthGenerator with the ImageGenerator
	nRetVal = depth.GetAlternativeViewPointCap().SetViewPoint(image);
	if (nRetVal)
		printf("Error: %s", xnGetStatusString(nRetVal));

	//Set it to VGA maps at 30 fps
	XnMapOutputMode mapMode;
	mapMode.nXRes = XN_VGA_X_RES;
	mapMode.nYRes = XN_VGA_Y_RES;
	mapMode.nFPS = 30;
	nRetVal = depth.SetMapOutputMode(mapMode);

	// Make it start generating data
	nRetVal = context.StartGeneratingAll();
	if (nRetVal)
		printf("Error: %s", xnGetStatusString(nRetVal));

	// Create an OpenCv matrix
	CvMat* depthMetersMat = cvCreateMat(480, 640, CV_16UC1);
	IplImage *kinectDepthImage;
	kinectDepthImage = cvCreateImage(cvSize(640,480), 16, 1);

	IplImage *rgbimg = cvCreateImageHeader(cvSize(640,480), 8,3);

	// Main loop
	while (bShouldRun)
	{
		//wait for new data to be available
		nRetVal = context.WaitOneUpdateAll(depth);
		if (nRetVal)
		{
			printf("Error: %s", xnGetStatusString(nRetVal));
			continue;
		}
		//Take current depth map
		const XnDepthPixel* pDepthMap = depth.GetDepthMap();

		for (int y=0; y<XN_VGA_Y_RES; y++)
		{
			for (int x=0; x<XN_VGA_X_RES; x++)
			{
				depthMetersMat->data.s[y*XN_VGA_X_RES+x]=10*pDepthMap[y*XN_VGA_X_RES+x];
			}
		}

		cvGetImage(depthMetersMat, kinectDepthImage);

		//take current image
		const XnRGB24Pixel* pImage = image.GetRGB24ImageMap();
		//process image data
		XnRGB24Pixel* ucpImage = const_cast<XnRGB24Pixel*>(pImage);
		cvSetData(rgbimg, ucpImage, 640*3);
		cvShowImage("RGB", kinectDepthImage);

		c = cvWaitKey(1);
		if (c == 27)
			bShouldRun = false;
	}

	cvReleaseImageHeader(&kinectDepthImage);
	context.Shutdown();
}

int main(int argc, char *argv[])
{	
	//--------------------------------------------------------------------//
	//------------------------- SETUP REQUIRED NODES ---------------------//
	//--------------------------------------------------------------------//
	
	// Setup the command line parameters.
	setupParams(argc, argv);
	
	// Setup all the sockets.
	setupSockets();
    
	// Setup the capture socket server for Mac.
	#if (XN_PLATFORM == XN_PLATFORM_MACOSX)
		if(_featureDepthMapCapture || _featureRGBCapture)
		{
			if(_useSockets)
			{
				g_AS3Network = network();
				g_AS3Network.init(setupServer);
			}
		}
	#endif
	
	// Setup the status.
    XnStatus _status = XN_STATUS_OK;
    EnumerationErrors _errors;
    
    // Context Init and Add license.
	_status = _context.Init();
	CHECK_RC(_status, "AS3OpenNI :: Initialize context");
	_context.SetGlobalMirror(_mirror);
	
	XnChar vendor[XN_MAX_NAME_LENGTH];
	XnChar license[XN_MAX_LICENSE_LENGTH];

	_license.strVendor[XN_MAX_NAME_LENGTH] = strcmp(vendor, "PrimeSense");
	_license.strKey[XN_MAX_LICENSE_LENGTH] = strcmp(license, "0KOIk2JeIBYClPWVnMoRKn5cdY4=");
		
	_status = _context.AddLicense(_license);
   	CHECK_RC(_status, "AS3OpenNI :: Added license");
   	
   	// Set it to VGA maps at 30 FPS
	_depthMode.nXRes = 640;
	_depthMode.nYRes = 480;
	_depthMode.nFPS = 30;
	
	// Depth map create.
	_status = _depth.Create(_context);
	CHECK_RC(_status, "AS3OpenNI :: Create depth generator");
	_status = _depth.SetMapOutputMode(_depthMode);
	
	// Depth map create.
	_status = _image.Create(_context);
	CHECK_RC(_status, "AS3OpenNI :: Create image generator");
	_status = _image.SetMapOutputMode(_depthMode);
	_status = _image.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
	
	// Create the hands generator.
	_status = _hands.Create(_context);
	CHECK_RC(_status, "AS3OpenNI :: Create hands generator");
	_hands.SetSmoothing(0.1);

	// Create the gesture generator.
	_status = _gesture.Create(_context);
	CHECK_RC(_status, "AS3OpenNI :: Create gesture generator");
	
	// Create user generator.
	_status = _userGenerator.Create(_context);
	CHECK_RC(_status, "AS3OpenNI :: Find user generator");
	
	// Create and initialize point tracker
	_sessionManager = new XnVSessionManager();
	_status = _sessionManager->Initialize(&_context, "Wave", "RaiseHand");
	
	if (_status != XN_STATUS_OK)
	{
		printf("AS3OpenNI :: Couldn't initialize the Session Manager: %s\n", xnGetStatusString(_status));
		CleanupExit();
	}
	_sessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
	
	// Start catching signals for quit indications
	CatchSignals(&_quit);
	
	//---------------------------------------------------------------//
	//------------------------- SETUP FEATURES ---------------------//
	//--------------------------------------------------------------//
	
	// Define the Wave and SinglePoint detectors.
	_waveDetector = new XnVWaveDetector();
	
	// SinglePoint detector.
	if(_featureSinglePoint) _waveDetector->RegisterPointUpdate(NULL, &OnPointUpdate);
	
	// Feature Gesture.
	if(_featureGesture)
	{
		// Wave detector.
		_waveDetector->RegisterWave(NULL, &OnWave);
//.........这里部分代码省略.........

void main()
{
	//--------------------------------------------------- 
	bool bShouldRun = true;
	int c ;

	XnStatus nRetVal = XN_STATUS_OK;
	Context context;

	// Initialize context object
	nRetVal = context.Init();

	// check error code
	if(nRetVal)
		printf("Error : %s", xnGetStatusString(nRetVal));

	context.SetGlobalMirror(true); //mirror image

	// Create a DepthGenerator node
	DepthGenerator depth;
	nRetVal = depth.Create(context);
	// check error code
	if(nRetVal)
		printf("Failed to create depth generator: %s\n", xnGetStatusString(nRetVal));

	/// Create an ImageGenerator node
	ImageGenerator image;
	nRetVal = image.Create(context);
	if(nRetVal)
		printf("Failed to create image generator: %s\n", xnGetStatusString(nRetVal));

	if(nRetVal)
		printf("Failed to match Depth and RGB points of view: %s\n",xnGetStatusString(nRetVal));

	// Set it to VGA maps at 30 FPS
	XnMapOutputMode mapMode;
	mapMode.nXRes = XN_VGA_X_RES;
	mapMode.nYRes = XN_VGA_Y_RES;
	mapMode.nFPS = 30;
	nRetVal = depth.SetMapOutputMode(mapMode);

	// Make it start generating data
	nRetVal = context.StartGeneratingAll();

	//  check error code
	if(nRetVal)
		printf("Error : %s", xnGetStatusString(nRetVal));

	//create a OpenCv matrix
	CvMat* depthMetersMat = cvCreateMat(480, 640, CV_16UC1);
	IplImage *kinectDepthImage;
	kinectDepthImage = cvCreateImage( cvSize(640,480),16,1);
	IplImage *kinectDepthImage_raw= cvCreateImage( cvSize(640,480),16,1);

	IplImage rgbimg;

	XnPoint3D* pDepthPointSet = new XnPoint3D[ 640*480 ];


	// Main loop

	while (bShouldRun)
	{
		// Wait for new data to be available
		nRetVal = context.WaitOneUpdateAll(depth);

		if (nRetVal != XN_STATUS_OK)
		{
			printf("Failed updating data: %s\n", xnGetStatusString(nRetVal));
			continue;
		}

		// Take current depth map
		const XnDepthPixel* pDepthMap = depth.GetDepthMap();
		xn::DepthGenerator rDepth;

		//Copy the depth values
		for (int y=0; y<XN_VGA_Y_RES; y++)
			for(int x=0;x<XN_VGA_X_RES;x++)
			{
				depthMetersMat->data.s[y * XN_VGA_X_RES + x ] = 20*pDepthMap[y * XN_VGA_X_RES + x];

				// Convert the coordinates in the camera coordinate system
				pDepthPointSet[y * XN_VGA_X_RES + x].X = (XnFloat) x;
				pDepthPointSet[y * XN_VGA_X_RES + x].Y = (XnFloat) y;
				pDepthPointSet[y * XN_VGA_X_RES + x].Z = pDepthMap[y * XN_VGA_X_RES + x];

			}
		
			cvGetImage(depthMetersMat,kinectDepthImage_raw);
			cvShowImage("Depth stream", kinectDepthImage_raw);

			unsigned char* picture_RGB = new unsigned char[XN_VGA_X_RES * XN_VGA_Y_RES * 3];
			//initialization with the retrieved data
			memcpy(picture_RGB, (unsigned char*)image.GetRGB24ImageMap(),XN_VGA_Y_RES * XN_VGA_X_RES * 3);

			//From BGR to RGB
			for(int i = 0 ; i < XN_VGA_X_RES * XN_VGA_Y_RES ; i++)
			{   
				unsigned char temp = picture_RGB[i*3];
//.........这里部分代码省略.........