Kinect SDK 2.0 handle and acquire depth frame - c++

Question

I am actually working with the Kinect V2 (the one for Xbox One) and I am trying to have a depth stream. I want to see what the depth sensor of Kinect sees. But I don't succeed to open a stream. I only succeed to open a single frame with another piece of code, but not a video. With a few research, I have tried to use handles, but the code I wrote don't printe on the screen the line 'stream' put at the end of the code. I am working on VS2012, the code is in C++.
I think I have this because I don't know how to use correcty an handle... If anybody could help me and explain to me what an handle is instead of a kind of pointer to something, it would be great. Thank you
Here is my code :
HRESULT hr=S_OK;
WAITABLE_HANDLE *stream=nullptr;
IKinectSensor* kinectSensor=nullptr;
if( SUCCEEDED(hr) )
{
std::cout << "Success IKinectSensor::GetDefaultSensor" << std::endl;
}
else
{
std::cout << "Failed IKinectSensor::GetDefaultSensor" << std::endl;
}
std::cout << "Opening sensors" << std::endl;
if(kinectSensor != NULL)
{
hr = kinectSensor->Open();
Sleep(sleeptime*5);
if( SUCCEEDED( hr ) )
{
std::cout << "Success IKinectSensor::Open" << std::endl;
}
else
{
std::cout << "Failed IKinectSensor::Open" << std::endl;
}
}
}
hr = kinectSensor->OpenMultiSourceFrameReader(FrameSourceTypes_Depth | FrameSourceTypes_Color , &multiSourceReader);
if( SUCCEEDED(hr) )
{
std::cout << "reader open" << std::endl;
hr = multiSourceReader->SubscribeMultiSourceFrameArrived(stream);
if( SUCCEEDED(hr) )
{
std::cout << "stream" << std::endl;
}
}

Answer 1

I didn't use a handle. See the below code snippet for getting the depth frame from a multisource frame reader and display it with OpenCV.
#include <Kinect.h>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
// helper function
template <class Interface> inline void safe_release(Interface **ppT)
{
if (*ppT)
{
(*ppT)->Release();
*ppT = NULL;
}
}
bool setup_kinect_sensor_and_acquire_frame()
{
IKinectSensor* kinect_sensor
// initialize kinect sensor
HRESULT hr = GetDefaultKinectSensor(&kinect_sensor);
if (FAILED(hr) || !kinect_sensor)
{
safe_release(&p_multisource_frame);
return false;
}
kinect_sensor->Open();
if (FAILED(hr))
{
return false;
}
// initialize kinect multisource frame reader
IMultiSourceFrameReader* kinect_multisource_reader;
hr = kinect_sensor->OpenMultiSourceFrameReader(FrameSourceTypes_Depth, &kinect_multisource_reader;);
if (FAILED(hr))
{
safe_release(&kinect_multisource_reader);
return false;
}
// acquire multisource frame
IMultiSourceFrame* p_multisource_frame = NULL;
HRESULT hr = kinect_multisource_reader->AcquireLatestFrame(&p_multisource_frame);
if (FAILED(hr))
{
safe_release(&p_multisource_frame);
return false;
}
// get depth frame
IDepthFrameReference* p_depth_frame_ref = NULL;
hr = p_multisource_frame->get_DepthFrameReference(&p_depth_frame_ref);
if (FAILED(hr))
{
safe_release(&p_depth_frame_ref);
return false;
}
IDepthFrame* p_depth_frame = NULL;
IFrameDescription* p_frame_description = NULL;
int width = 0;
int height = 0;
unsigned short depth_min_distance = 0;
unsigned short depth_max_distance = 0;
unsigned short* p_depth_buffer = NULL;
hr = p_depth_frame_ref->AcquireFrame(&p_depth_frame);
if (SUCCEEDED(hr))
{
hr = p_depth_frame->get_FrameDescription(&p_frame_description);
}
if (SUCCEEDED(hr))
{
hr = p_frame_description->get_Width(&width);
}
if (SUCCEEDED(hr))
{
hr = p_frame_description->get_Height(&height);
}
if (width != 512 || height != 424)
{
safe_release(&p_depth_frame);
safe_release(&p_frame_description);
return false;
}
// process depth frame
if (SUCCEEDED(hr))
{
hr = p_depth_frame->get_DepthMinReliableDistance(&depth_min_distance);
}
if (SUCCEEDED(hr))
{
hr = p_depth_frame->get_DepthMaxReliableDistance(&depth_max_distance);
}
if (SUCCEEDED(hr))
{
int size = 512 * 424;
p_depth_buffer = new unsigned short[size];
hr = p_depth_frame->CopyFrameDataToArray(size, p_depth_buffer);
if (SUCCEEDED(hr))
{
cv::Mat depth_map(cv::Size(DEPTH_WIDTH, DEPTH_HEIGHT), CV_16UC1, p_depth_buffer);
double scale = 255.0 / (depth_max_distance - depth_min_distance);
depth_map.convertTo(depth_frame, CV_8UC1, scale);
cv::imshow("depth", depth_map);
}
}
// Clean up depth frame
safe_release(&p_depth_frame_ref);
safe_release(&p_depth_frame);
safe_release(&p_frame_description);
if (p_depth_buffer != NULL) {
delete[] p_depth_buffer;
p_depth_buffer = NULL;
}
if (FAILED(hr))
{
return false;
}
else
{
return true;
}
}