[转载]Kinect+OpenNI学习笔记之3(获取kinect的数据并在Qt中显示的类的设计) - tornadomeet - 博客园

#include <XnCppWrapper.h>
#include <QtGui>
#include <iostream>

using namespace xn;
using namespace std;

class COpenNI
{
public:
    ~COpenNI() {
        context.Release();//释放空间
    }
    bool Initial() {
        //初始化
        status = context.Init();
        if(CheckError("Context initial failed!")) {
            return false;
        }
        context.SetGlobalMirror(true);//设置镜像
        //产生图片node
        status = image_generator.Create(context);
        if(CheckError("Create image generator  error!")) {
            return false;
        }
        //产生深度node
        status = depth_generator.Create(context);
        if(CheckError("Create depth generator  error!")) {
            return false;
        }
        //视角校正
        status = depth_generator.GetAlternativeViewPointCap().SetViewPoint(image_generator);
        if(CheckError("Can't set the alternative view point on depth generator")) {
            return false;
        }

        return true;

    }

    bool Start() {
        status = context.StartGeneratingAll();
        if(CheckError("Start generating error!")) {
            return false;
        }
        return true;
    }

    bool UpdateData() {
        status = context.WaitNoneUpdateAll();
        if(CheckError("Update date error!")) {
            return false;
        }
        //获取数据
        image_generator.GetMetaData(image_metadata);
        depth_generator.GetMetaData(depth_metadata);

        return true;
    }

public:
    DepthMetaData depth_metadata;
    ImageMetaData image_metadata;

private:
    //该函数返回真代表出现了错误，返回假代表正确
    bool CheckError(const char* error) {
        if(status != XN_STATUS_OK ) {
            QMessageBox::critical(NULL, error, xnGetStatusString(status));
            cerr << error << ": " << xnGetStatusString( status ) << endl;
            return true;
        }
        return false;
    }

private:
    XnStatus    status;
    Context     context;
    DepthGenerator  depth_generator;
    ImageGenerator  image_generator;
};

#include <QtGui>
#include <QDebug>
#include <XnCppWrapper.h>
#include "copenni.cpp"  //要包含cpp文件，不能直接包含类
#include <iostream>

using namespace std;

class CKinectReader: public QObject
{
public:
    //构造函数,用构造函数中的变量给类的私有成员赋值
    CKinectReader(COpenNI &openni, QGraphicsScene &scene) : openni(openni), scene(scene) {
        test = 0.0;
    }
    ~CKinectReader() {
        scene.removeItem(image_item);
        scene.removeItem(depth_item);
        delete [] p_depth_argb;
    }
    bool Start(int interval = 33) {
        openni.Start();//因为在调用CKinectReader这个类的之前会初始化好的,所以这里直接调用Start了
        image_item = scene.addPixmap(QPixmap());
        image_item->setZValue(1);
        depth_item = scene.addPixmap(QPixmap());
        depth_item->setZValue(2);
        openni.UpdateData();
        p_depth_argb = new uchar[4*openni.depth_metadata.XRes()*openni.depth_metadata.YRes()];
        startTimer(interval);//这里是继承QObject类，因此可以调用该函数
        return true;
    }
    float test ;
private:
    COpenNI &openni;    //定义引用同时没有初始化,因为在构造函数的时候用冒号来初始化
    QGraphicsScene &scene;
    QGraphicsPixmapItem *image_item;
    QGraphicsPixmapItem *depth_item;
    uchar *p_depth_argb;

private:
    void timerEvent(QTimerEvent *) {

        openni.UpdateData();
        //这里使用const，是因为右边的函数返回的值就是const类型的
        const XnDepthPixel *p_depth_pixpel = openni.depth_metadata.Data();
        unsigned int size = openni.depth_metadata.XRes()*openni.depth_metadata.YRes();

        //找深度最大值点
        XnDepthPixel max_depth = *p_depth_pixpel;
        for(unsigned int i = 1; i < size; ++i)
            if(p_depth_pixpel[i] > max_depth )
                max_depth = p_depth_pixpel[i];
        test = max_depth;

        //将深度图像格式归一化到0~255
        int idx = 0;
        for(unsigned int i = 1; i < size; ++i) {
            //一定要使用1.0f相乘，转换成float类型，否则该工程的结果会有错误,因为这个要么是0，要么是1，0的概率要大很多
            float fscale = 1.0f*(*p_depth_pixpel)/max_depth;
            if((*p_depth_pixpel) != 0) {
                p_depth_argb[idx++] = 255*(1-fscale);    //蓝色分量
                p_depth_argb[idx++] = 0; //绿色分量
                p_depth_argb[idx++] = 255*fscale;   //红色分量，越远越红
                p_depth_argb[idx++] = 255*(1-fscale); //距离越近，越不透明
            }
            else {
                p_depth_argb[idx++] = 0;
                p_depth_argb[idx++] = 0;
                p_depth_argb[idx++] = 0;
                p_depth_argb[idx++] = 255;
            }
            ++p_depth_pixpel;//此处的++p_depth_pixpel和p_depth_pixpel++是一样的
        }
        //往item中设置图像色彩数据
        image_item->setPixmap(QPixmap::fromImage(
                              QImage(openni.image_metadata.Data(), openni.image_metadata.XRes(), openni.image_metadata.YRes(),
                              QImage::Format_RGB888)));
        //往item中设置深度数据
        depth_item->setPixmap(QPixmap::fromImage(
                              QImage(p_depth_argb, openni.depth_metadata.XRes(), openni.depth_metadata.YRes()
                              , QImage::Format_ARGB32)));
    }
};

#include <QtGui/QtGui>
#include <QDebug>
#include "ckinectreader.cpp"

int main(int argc, char **argv)
{
    COpenNI openni;
    if(!openni.Initial())//初始化返回1表示初始化成功
        return 1;

    QApplication app(argc, argv);

    QGraphicsScene scene;
    QGraphicsView view;
    view.setScene(&scene);
    view.resize(650, 540);
    view.show();

    CKinectReader kinect_reader(openni, scene);
    kinect_reader.Start();//启动，读取数据
    qDebug() << kinect_reader.test;
    return app.exec();
}