OpenCVKinect: Provides method to access Kinect Color and Depth Stream in OpenCV Mat format.
Copyright (C) 2013 Muhammad Asad
- Webpage: http://seevisionc.blogspot.co.uk/p/about.html
- Contact: [email protected]
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
Code for acquiring Depth and Color streams from Kinect sensor in OpenCV Mat format.
- Kinect 1.x SDK
- OpenNI 2.x SDK
- OpenCV 2.x
- Kinect Sensor
Include the source file in your project and create a class object where data streams are required.
To set up the object call following function in the same order.
setMode(flag) - for specifying the data streams which will be returned
Possible flag modes for data stream acquisition
- C_MODE_DEPTH
- C_MODE_COLOR
- C_MODE_DEPTH | C_MODE_COLOR
- C_MODE_DEPTH | C_MODE_COLOR | C_MODE_ALIGNED
init() - initializing the data streams and device drivers getData() - to get a vector of OpenCV Mat giving Depth and Color streams getColor() - get Color stream getDepth() - get Depth stream
Return a cv::vector <cv::Mat> which can be accessed with index flags
- C_DEPTH_STREAM
- C_COLOR_STREAM
example: accessing depth and color stream from cv::vector <cv::Mat> myDataStreams
- cv::Mat depth = myDataStreams[C_DEPTH_STREAM];
- cv::Mat color = myDataStreams[C_COLOR_STREAM];
This code includes a sample which demonstrates the functionality of the class.