#include <XnCppWrapper.h>
#include <QtGui/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nodestatus = image_generator.Create(context);if(CheckError("Create image generator  error!")) {return false;}//产生深度nodestatus = 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 <QCoreApplication>#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <opencv2/core/core.hpp>
#include "copenni.cpp"#include <iostream>using namespace cv;
using namespace xn;int main (int argc, char **argv)
{COpenNI openni;if(!openni.Initial())return 1;namedWindow("color image", CV_WINDOW_AUTOSIZE);namedWindow("color edge detect", CV_WINDOW_AUTOSIZE);namedWindow("depth image", CV_WINDOW_AUTOSIZE);namedWindow("depth edge detect", CV_WINDOW_AUTOSIZE);if(!openni.Start())return 1;while(1) {if(!openni.UpdateData()) {return 1;}/*获取并显示色彩图像*/Mat color_image_src(openni.image_metadata.YRes(), openni.image_metadata.XRes(),CV_8UC3, (char *)openni.image_metadata.Data());Mat color_image;cvtColor(color_image_src, color_image, CV_RGB2BGR);imshow("color image", color_image);/*对色彩图像进行canny边缘检测并显示*/Mat color_image_gray, color_image_edge;cvtColor(color_image_src, color_image_gray, CV_RGB2GRAY);//因为在进行边缘检测的时候只能使用灰度图像Canny(color_image_gray, color_image_edge, 5, 100);imshow("color edge detect", color_image_edge);/*获取并显示深度图像*/Mat depth_image_src(openni.depth_metadata.YRes(), openni.depth_metadata.XRes(),CV_16UC1, (char *)openni.depth_metadata.Data());//因为kinect获取到的深度图像实际上是无符号的16位数据
        Mat depth_image, depth_image_edge;depth_image_src.convertTo(depth_image, CV_8U, 255.0/8000);imshow("depth image", depth_image);/*计算深度图像的canny边缘并显示*/Canny(depth_image, depth_image_edge, 5, 100);imshow("depth edge detect", depth_image_edge);waitKey(30);}}