#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 <QtCore/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;

string Int_to_String(int n);

int main (int argc, char **argv)

{

    COpenNI openni;

    if(!openni.Initial())

        return ;

    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 ;

    char key=;

    int i=, j=;

    while((i==)) {//key!=27

        if(!openni.UpdateData()) {

            return ;

        }

        /*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);

        //保存彩色图像

        j = i++;

        string str1 = "E:\\OpenCVData\\color\\";

        string str11 = "E:\\OpenCVData\\depth\\";

        string str2 = ".jpg";

        string str3 = str1 + Int_to_String(j) + str2; //彩色图像名称

        char * cstr = new char [str2.length()+];

        std::strcpy (cstr, str2.c_str());

        cout<<cstr;

        //cvSaveImage(cstr, color_image);

        imwrite(str3, 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, , );

        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/); //对齐？

        imshow("depth image", depth_image);

        //保存深度图像

        string str4 = str11 + Int_to_String(j) + str2; //深度图像名称

        imwrite(str4, depth_image);

        /*计算深度图像的canny边缘并显示*/

        Canny(depth_image, depth_image_edge, , );

        imshow("depth edge detect", depth_image_edge);

        key=cvWaitKey();

    }

}

string Int_to_String(int n)

{

ostringstream stream;

stream<<n;  //n为int类型

return stream.str();

}