【翻译】Kinect v2程序设计(C++) BodyIndex篇

// Source
IBodyIndexFrameSource* pBodyIndexSource;  ……1
hResult = pSensor->get_BodyIndexFrameSource( &pBodyIndexSource );  ……2
if( FAILED( hResult ) ){
  std::cerr << "Error : IKinectSensor::get_BodyIndexFrameSource()" << std::endl;
  return -1;
}

// Reader
IBodyIndexFrameReader* pBodyIndexReader;  ……1
hResult = pBodyIndexSource->OpenReader( &pBodyIndexReader );  ……2
if( FAILED( hResult ) ){
  std::cerr << "Error : IBodyIndexFrameSource::OpenReader()" << std::endl;
  return -1;
}

int width = 512;  ……1
int height = 424;  ……1
cv::Mat bodyIndexMat( height， width， CV_8UC3 );  ……2
cv::namedWindow( "BodyIndex" );
// Color Table
cv::Vec3b color[6];  ……3
color[0] = cv::Vec3b( 255，   0，   0 );
color[1] = cv::Vec3b(   0， 255，   0 );
color[2] = cv::Vec3b(   0，   0， 255 );
color[3] = cv::Vec3b( 255， 255，   0 );
color[4] = cv::Vec3b( 255，   0， 255 );
color[5] = cv::Vec3b(   0， 255， 255 );
while( 1 ){
  // Frame
  IBodyIndexFrame* pBodyIndexFrame = nullptr;  ……4
  hResult = pBodyIndexReader->AcquireLatestFrame( &pBodyIndexFrame );  ……5
  if( SUCCEEDED( hResult ) ){
    unsigned int bufferSize = 0;
    unsigned char* buffer = nullptr;
    hResult = pBodyIndexFrame->AccessUnderlyingBuffer( &bufferSize， &buffer );  ……6
    if( SUCCEEDED( hResult ) ){
      for( int y = 0; y < height; y++ ){
        for( int x = 0; x < width; x++ ){
          unsigned int index = y * width + x;
          if( buffer[index] != 0xff ){
            bodyIndexMat.at<cv::Vec3b>( y， x ) = color[buffer[index]];  ……7
          }
          else{
            bodyIndexMat.at<cv::Vec3b>( y， x ) = cv::Vec3b( 0， 0， 0 );  ……7
          }
        }
      }
    }
  }
  SafeRelease( pBodyIndexFrame );
  // Show Window
  cv::imshow( "BodyIndex"， bodyIndexMat );
  if( cv::waitKey( 30 ) == VK_ESCAPE ){
    break;
  }
}