RGB数据的获取与景深数据获取类似，不同的就是数据帧的数据格式是openni::RGB888Pixel类型的。直接通过代码来了解：
1 #include <conio.h> 2 #include <iostream> 3 using namespace std; 4 5 #include <OpenNI.h> 6 #pragma comment(lib, "openni2.lib") 7 8 #include <opencv/cv.h> 9 #include <opencv/highgui.h> 10 #pragma comment(lib, "opencv_core244.lib") 11 #pragma comment(lib, "opencv_highgui244.lib") 12 #pragma comment(lib, "opencv_imgproc244.lib") 13 14 class NewColorFrameListener 15 : public openni::VideoStream::NewFrameListener 16 { 17 public: 18 virtual void onNewFrame(openni::VideoStream& stream) 19 { 20 openni::VideoFrameRef frame; 21 stream.readFrame(&frame); 22 if (frame.isValid()) 23 { 24 if (frame.getSensorType() == openni::SENSOR_COLOR) 25 { 26 cv::Mat rgbImg(frame.getHeight(), frame.getWidth(), CV_8UC3, (void*)frame.getData()); 27 cv::Mat bgrImg; 28 cvtColor(rgbImg, bgrImg, CV_RGB2BGR); 29 IplImage* img = cvCreateImage(cvSize(frame.getWidth(), frame.getHeight()), 8, 3); 30 img->imageData = (char*)bgrImg.data; 31 cvShowImage("wnd", img); 32 cvReleaseImage(&img); 33 } 34 } 35 } 36 }; 37 38 int main() 39 { 40 openni::Status rc = openni::STATUS_OK; 41 NewColorFrameListener listener; 42 rc = openni::OpenNI::initialize(); 43 if (rc != openni::STATUS_OK) 44 { 45 cout<<"initialize failed:"<<openni::OpenNI::getExtendedError()<<endl; 46 return 1; 47 } 48 openni::Device device; 49 rc = device.open(openni::ANY_DEVICE); 50 if (rc != openni::STATUS_OK) 51 { 52 openni::OpenNI::shutdown(); 53 cout<<"open device failed:"<<openni::OpenNI::getExtendedError()<<endl; 54 return 0; 55 } 56 openni::VideoStream colorStream; 57 rc = colorStream.create(device, openni::SENSOR_COLOR); 58 if (rc != openni::STATUS_OK) 59 { 60 openni::OpenNI::shutdown(); 61 cout<<"create color stream failed:"<<openni::OpenNI::getExtendedError()<<endl; 62 return 0; 63 } 64 cvNamedWindow("wnd", CV_WINDOW_AUTOSIZE); 65 openni::VideoFrameRef frame; 66 colorStream.start(); 67 colorStream.addNewFrameListener(&listener); 68 while (true) 69 { 70 if (cvWaitKey(30) == 27) 71 break; 72 } 73 74 cvDestroyWindow("wnd"); 75 colorStream.stop(); 76 colorStream.destroy(); 77 device.close(); 78 openni::OpenNI::shutdown(); 79 return 0; 80 }
其中，38-80行的main函数就不用多说了，基本与景深数据的获取类似。
在NewColorFrameListener类中的onNewFrame方法里处理并显示RGB数据。我们直接把相应的数据通过OpenCV来展示，注意，由于Kinect获取的格式是RGB的，而OpenCV处理数据的内部结构是BGR方式排列的，所以，在显示之前，需要进行一次颜色空间的转换。直接通过cvtColor方法转换即可。