A lot of people on this forum and around these here interwebs have been asking how to get the kinect working with OpenCV in C++. Here is the basic code to display the RGB image and the depth image as both a colormap and as greyscale. This is for OpenCV 2.2 which is the latest version. If you want to use an earlier version your includes will be different.
NOTE: The calls to StopNUICamera(), DestroyNUIMotor(motor), and DestroyNUICamera() are commented out because they still throw an error when called. It doesn’t seem to be a problem though.
// Jim Vaughn
// Displays the color and depth information using OpenCV
#include "stdafx.h"
#include <opencv/cv.h>
#include <opencv/cxcore.h>
#include <opencv/highgui.h>
#include <CLNUIDevice.h>
using namespace std;
void displayKinectImage();
int _tmain(int argc, _TCHAR* argv[])
{
displayKinectImage();
}
void displayKinectImage() {
PDWORD rgb32_data = (PDWORD) malloc(640*480*4);
PDWORD depth32_data = (PDWORD) malloc(640*480*4);
CLNUICamera cam = CreateNUICamera(GetNUIDeviceSerial(0));
CLNUIMotor motor = CreateNUIMotor(GetNUIDeviceSerial(0));
StartNUICamera(cam);
cvNamedWindow("Image", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Depth", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Grey", CV_WINDOW_AUTOSIZE);
IplImage *rgb32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);
IplImage *grey;
IplImage *depth32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);;
do {
GetNUICameraColorFrameRGB32(cam, rgb32_data);
GetNUICameraDepthFrameRGB32(cam, depth32_data);
rgb32 = cvCreateImageHeader(cvSize(640,480), 8, 4);
grey = cvCreateImage(cvSize(640, 480), 8, 1);
depth32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);
cvSetData(rgb32, rgb32_data, rgb32->widthStep);
cvSetData(depth32, depth32_data, depth32->widthStep);
// Convert RGB32 to greyscale
cvCvtColor(depth32, grey, CV_RGB2GRAY);
cvShowImage("Image", rgb32);
cvShowImage("Grey", grey);
cvShowImage("Depth", depth32);
cvReleaseImageHeader(&rgb32;);
cvReleaseImage(&grey;);
cvReleaseImageHeader(&depth32;);
cvWaitKey(1);
} while (!GetAsyncKeyState(0x50));
free(rgb32_data);
free(depth32_data);
//StopNUICamera(cam);
//DestroyNUIMotor(motor);
//DestroyNUICamera(cam);
}
like cvReleaseImageHeader(&rgb32;);
