[kinect] 编写多线程启动

参考
created by Dejavu

• 多线程启动kinect可以方便的提取图像和深度数据
  调用的方式如下，是不是非常简洁

#include "imgStream.h"

int main() {
    DataStream data;
    //后面放你的图像处理类
}

需要查看的主要类

class DataStream {
private:
    Freenect::Freenect freenect;
    MyFreenectDevice& device;
    static void* getPthreadImg(void*);

public:
    Mutex imgLock;//---------线程锁，图像处理时要调用他来防止访问冲突-----
    cv::Mat color;//----------可供外部调用--------
    cv::Mat depth;//---------可供外部调用--------
    bool getImg();
    void run_thread();

    DataStream() : device(freenect.createDevice<MyFreenectDevice>(0)) {
        device.startVideo();
        device.startDepth();
        run_thread();
    }
    ~DataStream() {
        device.stopVideo();
        device.stopDepth();
    }
};

• 码源
  imgStream.h

#ifndef _IMGSTREAM_H
#define _IMGSTREAM_H

#include "libfreenect.hpp"
#include <iostream>
#include <vector>
#include <cmath>
#include <pthread.h>
#include <opencv2/opencv.hpp>

using namespace std;

typedef unsigned short US;



class Mutex {
private:
    pthread_mutex_t m_mutex;

public:
    Mutex() {pthread_mutex_init(&m_mutex, NULL);}
    void lock() {pthread_mutex_lock(&m_mutex);}
    void unlock() {pthread_mutex_unlock(&m_mutex);}

    class ScopedLock
    {
        private:
            Mutex &_mutex;

    public:
        ScopedLock(Mutex &mutex) : _mutex(mutex) {_mutex.lock();}
        ~ScopedLock() {_mutex.unlock();}
    };
};


class MyFreenectDevice : public Freenect::FreenectDevice {
private:
        Mutex m_rgb_mutex;
        Mutex m_depth_mutex;
        cv::Mat rgbMat;
        cv::Mat depthMat;
        bool m_new_rgb_frame;
        bool m_new_depth_frame;

public:
    MyFreenectDevice(freenect_context *_ctx, int _index)
            : Freenect::FreenectDevice(_ctx, _index),
                rgbMat(cv::Size(640,480),CV_8UC3,cv::Scalar::all(0)),
                depthMat(cv::Size(640,480),CV_16UC1),
                m_new_rgb_frame(false), m_new_depth_frame(false)
    {setDepthFormat(FREENECT_DEPTH_REGISTERED);}
    void VideoCallback(void *_rgb, uint32_t timestamp);
    void DepthCallback(void *_depth, uint32_t timestamp);
    bool getRGB(cv::Mat &buffer);
    bool getDepth(cv::Mat &buffer);

};


class DataStream {
private:
    Freenect::Freenect freenect;
  MyFreenectDevice& device;
    static void* getPthreadImg(void*);

public:
    Mutex imgLock;
    cv::Mat color;
    cv::Mat depth;
    bool getImg();
    void run_thread();

    DataStream() : device(freenect.createDevice<MyFreenectDevice>(0)) {
        device.startVideo();
    device.startDepth();
        run_thread();
    }
    ~DataStream() {
        device.stopVideo();
    device.stopDepth();
    }
};


#endif

kinect_lib.cpp

#include "imgStream.h"

void MyFreenectDevice::VideoCallback(void *_rgb, uint32_t timestamp) {
        Mutex::ScopedLock lock(m_rgb_mutex);
        uint8_t* rgb = static_cast<uint8_t*>(_rgb);
        rgbMat.data = rgb;
        m_new_rgb_frame = true;
}
// Do not call directly, even in child
void MyFreenectDevice::DepthCallback(void *_depth, uint32_t timestamp) {
        Mutex::ScopedLock lock(m_depth_mutex);
        uint16_t* depth = static_cast<uint16_t*>(_depth);
        depthMat.data = (uchar*) depth;
        m_new_depth_frame = true;
}

bool MyFreenectDevice::getRGB(cv::Mat &buffer) {
        Mutex::ScopedLock lock(m_rgb_mutex);
        if (!m_new_rgb_frame)
                        return false;

        cv::cvtColor(rgbMat, buffer, CV_RGB2BGR);
        m_new_rgb_frame = false;
        return true;
}

bool MyFreenectDevice::getDepth(cv::Mat &buffer) {
        Mutex::ScopedLock lock(m_depth_mutex);
        if (!m_new_depth_frame)
                return false;

        buffer = depthMat.clone();
        m_new_depth_frame = false;

        return true;
}


bool DataStream::getImg() {
    Mutex::ScopedLock lock(imgLock);
    device.getRGB(color);
    device.getDepth(depth);
    cv::imshow("src",color);
    if(char(cv::waitKey(1)) == 27) return false;
    return true;
}

void* DataStream::getPthreadImg( void* __this ) {
    DataStream* _this = (DataStream*) __this;
    while(true) {
        if(!_this->getImg()) pthread_exit(NULL);
    }
}


void DataStream::run_thread() {
    pthread_t id;
    pthread_create(&id,NULL,getPthreadImg,(void*)this);
}