Kinect v2在VS2013與openCV 2.4.9 中環境配置

年末了，纔想起導師交代的任務還沒開始做。所以網上資料一頓找，將Kinect2.0在win10 64位 VS2013以及opencv2.4.9 的環境配置整理一下。

首先是你要裝Kinect2.0的驅動，需要下載微軟提供的SDK，這裏給出鏈接：

https://www.microsoft.com/en-us/download/details.aspx?id=44561

接下來，我們打開VS2013新建C++控制檯應用程序

配置opencv2.4.9以及Kinect2.0

在屬性中

VC++目錄中 

包含目錄：（找到opencv安裝的目錄中）,點前面是你們自己的安裝路徑

.\opencv\build\include\opencv

.\opencv\build\include\opencv2

.\opencv\build\include

$(KINECTSDK20_DIR)\inc         

-------KINECTSDK20_DIR是你安裝了SDK以後，在系統環境變量中的值，默認安裝應該都會是這個路徑，如果沒有，自己手動添加環境變量即可

庫目錄：

.\opencv\build\x86\vc12\lib

$(KINECTSDK20_DIR)\lib\x86

這裏x86和x64 視你的編譯環境而定，x64不行的話就換成x86

在鏈接器——>輸入——>附加依賴項中添加

opencv2.4.9 debug庫

opencv_calib3d249d.lib
opencv_contrib249d.lib
opencv_core249d.lib
opencv_features2d249d.lib
opencv_flann249d.lib
opencv_gpu249d.lib
opencv_highgui249d.lib
opencv_imgproc249d.lib
opencv_legacy249d.lib
opencv_ml249d.lib
opencv_nonfree249d.lib
opencv_objdetect249d.lib
opencv_ocl249d.lib
opencv_photo249d.lib
opencv_stitching249d.lib
opencv_superres249d.lib
opencv_ts249d.lib
opencv_video249d.lib
opencv_videostab249d.lib

以及Kinect2.0 庫

Kinect20.VisualGestureBuilder.lib
Kinect20.lib
Kinect20.Face.lib
Kinect20.Fusion.lib

環境配置就是這樣

這裏放一個小demo，進行測試，效果是獲取Kinect彩色圖 深度圖和紅外圖

原始代碼來自（http://blog.csdn.net/jiaojialulu/article/details/53087988），我做了些許改動，編譯通過運行

#include <Kinect.h> 
#include <iostream>
#include <opencv2/core/core.hpp>  
#include <opencv2/highgui/highgui.hpp>  
using namespace cv;
using namespace std;

// 安全釋放指針
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
	if (pInterfaceToRelease != NULL)
	{
		pInterfaceToRelease->Release();
		pInterfaceToRelease = NULL;
	}
}

int main()
{
	// 獲取Kinect設備
	IKinectSensor* m_pKinectSensor;
	HRESULT hr;
	hr = GetDefaultKinectSensor(&m_pKinectSensor);
	if (FAILED(hr))
	{
		return hr;
	}

	IMultiSourceFrameReader* m_pMultiFrameReader = NULL;
	if (m_pKinectSensor)
	{
		hr = m_pKinectSensor->Open();
		if (SUCCEEDED(hr))
		{
			// 獲取多數據源到讀取器  
			hr = m_pKinectSensor->OpenMultiSourceFrameReader(
				FrameSourceTypes::FrameSourceTypes_Color |
				FrameSourceTypes::FrameSourceTypes_Infrared |
				FrameSourceTypes::FrameSourceTypes_Depth,
				&m_pMultiFrameReader);
		}
	}

	if (!m_pKinectSensor || FAILED(hr))
	{
		return E_FAIL;
	}
	// 三個數據幀及引用
	IDepthFrameReference* m_pDepthFrameReference = NULL;
	IColorFrameReference* m_pColorFrameReference = NULL;
	IInfraredFrameReference* m_pInfraredFrameReference = NULL;
	IInfraredFrame* m_pInfraredFrame = NULL;
	IDepthFrame* m_pDepthFrame = NULL;
	IColorFrame* m_pColorFrame = NULL;
	// 三個圖片格式
	Mat i_rgb(1080, 1920, CV_8UC4);      //注意：這裏必須爲4通道的圖，Kinect的數據只能以Bgra格式傳出
	Mat i_depth(424, 512, CV_8UC1);
	Mat i_ir(424, 512, CV_16UC1);

	UINT16 *depthData = new UINT16[424 * 512];
	IMultiSourceFrame* m_pMultiFrame = nullptr;
	while (true)
	{
		// 獲取新的一個多源數據幀
		hr = m_pMultiFrameReader->AcquireLatestFrame(&m_pMultiFrame);
		if (FAILED(hr) || !m_pMultiFrame)
		{
			//cout << "!!!" << endl;
			continue;
		}

		// 從多源數據幀中分離出彩色數據，深度數據和紅外數據
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_ColorFrameReference(&m_pColorFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pColorFrameReference->AcquireFrame(&m_pColorFrame);
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_DepthFrameReference(&m_pDepthFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pDepthFrameReference->AcquireFrame(&m_pDepthFrame);
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_InfraredFrameReference(&m_pInfraredFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pInfraredFrameReference->AcquireFrame(&m_pInfraredFrame);

		// color拷貝到圖片中
		UINT nColorBufferSize = 1920 * 1080 * 4;
		if (SUCCEEDED(hr))
			hr = m_pColorFrame->CopyConvertedFrameDataToArray(nColorBufferSize, reinterpret_cast<BYTE*>(i_rgb.data), ColorImageFormat::ColorImageFormat_Bgra);

		// depth拷貝到圖片中
		if (SUCCEEDED(hr))
		{
			hr = m_pDepthFrame->CopyFrameDataToArray(424 * 512, depthData);
			for (int i = 0; i < 512 * 424; i++)
			{
				// 0-255深度圖，爲了顯示明顯，只取深度數據的低8位
				BYTE intensity = static_cast<BYTE>(depthData[i] % 256);
				reinterpret_cast<BYTE*>(i_depth.data)[i] = intensity;
			}

			// 實際是16位unsigned int數據
			//hr = m_pDepthFrame->CopyFrameDataToArray(424 * 512, reinterpret_cast<UINT16*>(i_depth.data));
		}

		// infrared拷貝到圖片中
		if (SUCCEEDED(hr))
		{
			hr = m_pInfraredFrame->CopyFrameDataToArray(424 * 512, reinterpret_cast<UINT16*>(i_ir.data));
		}

		// 顯示
		imshow("rgb", i_rgb);
		if (waitKey(1) == VK_ESCAPE)
			break;
		imshow("depth", i_depth);
		if (waitKey(1) == VK_ESCAPE)
			break;
		imshow("ir", i_ir);
		if (waitKey(1) == VK_ESCAPE)
			break;

		// 釋放資源
		SafeRelease(m_pColorFrame);
		SafeRelease(m_pDepthFrame);
		SafeRelease(m_pInfraredFrame);
		SafeRelease(m_pColorFrameReference);
		SafeRelease(m_pDepthFrameReference);
		SafeRelease(m_pInfraredFrameReference);
		SafeRelease(m_pMultiFrame);
	}
	// 關閉窗口，設備
	cv::destroyAllWindows();
	m_pKinectSensor->Close();
	std::system("pause");
	return 0;
}