/
kinectcamera.cpp
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/
kinectcamera.cpp
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#include "kinectcamera.h"
#include <OpenNI.h>
#include <opencv2/opencv.hpp>
#include <QPainter>
#include <QImage>
#include <vector>
#include <stdio.h>
using namespace std;
using namespace cv;
openni::VideoFrameRef mColorFrame;
openni::VideoStream mColorStream;
openni::VideoFrameRef mDepthFrame;
openni::VideoStream mDepthStream;
openni::Device mDevice;
QImage KinectDepthImage;
QImage KinectColorImage;
static bool fig =0;//设置fig来判断设备是否打开
KinectCamera::KinectCamera(QQuickItem *parent)
: QQuickPaintedItem(parent),m_streamsource("color")
{
}
void KinectCamera::startcamera(void)
{
openni::OpenNI::initialize();//初始化
mDevice.open( openni::ANY_DEVICE );//打开设备（已在全局变量中声明设备mDevice）
mColorStream.create( mDevice, openni::SENSOR_COLOR );// 创建数据流
mColorStream.start();//开启数据流
mDepthStream.create( mDevice, openni::SENSOR_DEPTH );// 创建数据流
mDepthStream.start();//开启数据流
fig=1;
}
void KinectCamera::closecamera(void)
{
mColorStream.destroy();
mDepthStream.destroy();
mDevice.close();
openni:: OpenNI::shutdown();
}
void KinectCamera::updatecamera(void)
{
update();
}
void KinectCamera::paint(QPainter *painter)
{
if (!fig)//如果设备未打开，先执行startcamera
{
startcamera();
if(m_streamsource=="depth")
{
int iMaxDepth = mDepthStream.getMaxPixelValue();
mDepthStream.readFrame( &mDepthFrame );
const cv::Mat mImageDepth(
mDepthFrame.getHeight(), mDepthFrame.getWidth(),
CV_16UC1, (void*)mDepthFrame.getData() );
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
QVector<QRgb> colorTable;
for(int k=0;k<256;++k)
{
colorTable.push_back( qRgb(k,k,k) );
}
KinectDepthImage= QImage((const unsigned char*)mScaledDepth.data,mDepthFrame.getWidth(), mDepthFrame.getHeight(),QImage::Format_Indexed8);
KinectDepthImage.setColorTable(colorTable);
painter->drawImage(boundingRect().adjusted(1, 1, -1, -1),KinectDepthImage);
}
else
{
mColorStream.readFrame( &mColorFrame );
KinectColorImage= QImage((const unsigned char*)mColorFrame.getData(),mColorFrame.getWidth(), mColorFrame.getHeight(),QImage::Format_RGB888);
painter->drawImage(boundingRect().adjusted(1, 1, -1, -1),KinectColorImage);
}
}
else//如果设备以打开，直接执行
{
if(m_streamsource=="depth")
{
int iMaxDepth = mDepthStream.getMaxPixelValue();
mDepthStream.readFrame( &mDepthFrame );
const cv::Mat mImageDepth(
mDepthFrame.getHeight(), mDepthFrame.getWidth(),
CV_16UC1, (void*)mDepthFrame.getData() );
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
QVector<QRgb> colorTable;
for(int k=0;k<256;++k)
{
colorTable.push_back( qRgb(k,k,k) );
}
KinectDepthImage= QImage((const unsigned char*)mScaledDepth.data,mDepthFrame.getWidth(), mDepthFrame.getHeight(),QImage::Format_Indexed8);
KinectDepthImage.setColorTable(colorTable);
painter->drawImage(boundingRect().adjusted(1, 1, -1, -1),KinectDepthImage);
}
else
{
mColorStream.readFrame( &mColorFrame );
KinectColorImage= QImage((const unsigned char*)mColorFrame.getData(),mColorFrame.getWidth(), mColorFrame.getHeight(),QImage::Format_RGB888);
painter->drawImage(boundingRect().adjusted(1, 1, -1, -1),KinectColorImage);
}
}
}
QString KinectCamera::getstreamsource(void) const
{
return m_streamsource;
}
void KinectCamera::setstreamsource(const QString streamsource)
{
m_streamsource=streamsource;
emit streamsourceChanged();
}