OpenCV中Kinect的使用（3）

接OpenCV中Kinect的使用（2），下面内容主要讲述使用OpenNI 控制Kinect 的马达，实现摄像头的上下摆动。

下面是透过OpenNI比较低阶的USB控制介面（XnUSB.h），来做到马达的控制的代码：（来自这里）

使用时应注意一点：在使用该代码控制马达时，使用前应确保摄像头是关闭的；在每一次准备调整其角度时，都要先关闭摄像头。

原因不明。

 // Forked from: https://groups.google.com/d/msg/openni-dev/T_CeVW_d8ig/dsBKONIpNyQJ

 #include <XnUSB.h>
 #include <cstdio>

 #ifdef _WIN32
 #include <Windows.h>
 void pause_ ()
 {
     Sleep();
 }
 #else
 #include <unistd.h>
 void pause_ ()
 {
     sleep();
 }
 #endif

 /**
  * Class to control Kinect's motor.
  */
 class KinectMotors
 {
 public:
     enum { MaxDevs =  };

 public:
     KinectMotors();
     virtual ~KinectMotors();

     /**
         * Open device.
         * @return true if succeeded, false - overwise
         */
     bool Open();

     /**
         * Close device.
         */
     void Close();

     /**
         * Move motor up or down to specified angle value.
         * @param angle angle value
         * @return true if succeeded, false - overwise
         */
     bool Move(int angle);

 private:
     XN_USB_DEV_HANDLE m_devs[MaxDevs];
     XnUInt32 m_num;
     bool m_isOpen;
 };

 KinectMotors::KinectMotors()
 {
     m_isOpen = false;
 }

 KinectMotors::~KinectMotors()
 {
     Close();
 }

 bool KinectMotors::Open()
 {
     const XnUSBConnectionString *paths;
     XnUInt32 count;
     XnStatus res;

     // Init OpenNI USB
     res = xnUSBInit();
     if (res != XN_STATUS_OK)
     {
         xnPrintError(res, "xnUSBInit failed");
         return false;
     }

     // Open all "Kinect motor" USB devices
     res = xnUSBEnumerateDevices(0x045E /* VendorID */, 0x02B0 /*ProductID*/, &paths, &count);
     if (res != XN_STATUS_OK)
     {
         xnPrintError(res, "xnUSBEnumerateDevices failed");
         return false;
     }

     // Open devices
     for (XnUInt32 index = ; index < count; ++index)
     {
         res = xnUSBOpenDeviceByPath(paths[index], &m_devs[index]);
         if (res != XN_STATUS_OK) {
             xnPrintError(res, "xnUSBOpenDeviceByPath failed");
             return false;
         }
     }

     m_num = count;
     XnUChar buf[]; // output buffer

     // Init motors
     for (XnUInt32 index = ; index < m_num; ++index)
     {
         res = xnUSBSendControl(m_devs[index], (XnUSBControlType) 0xc0, 0x10, 0x00, 0x00, buf, sizeof(buf), );
         if (res != XN_STATUS_OK) {
             xnPrintError(res, "xnUSBSendControl failed");
             Close();
             return false;
         }

         res = xnUSBSendControl(m_devs[index], XN_USB_CONTROL_TYPE_VENDOR, 0x06, 0x01, 0x00, NULL, , );
         if (res != XN_STATUS_OK) {
             xnPrintError(res, "xnUSBSendControl failed");
             Close();
             return false;
         }
     }

     m_isOpen = true;

     return true;
 }

 void KinectMotors::Close()
 {
     if (m_isOpen) {
         for (XnUInt32 index = ; index < m_num; ++index) {
             xnUSBCloseDevice(m_devs[index]);
         }
         m_isOpen = false;
     }
 }

 bool KinectMotors::Move(int angle)
 {
     XnStatus res;

     // Send move control requests
     for (XnUInt32 index = ; index < m_num; ++index)
     {
         res = xnUSBSendControl(m_devs[index], XN_USB_CONTROL_TYPE_VENDOR, 0x31, angle, 0x00, NULL, , );

         if (res != XN_STATUS_OK)
         {
             xnPrintError(res, "xnUSBSendControl failed");
             return false;
         }
     }
     return true;
 }

 int main(int argc, char *argv[])
 {
     KinectMotors motors;

     if (!motors.Open()) // Open motor devices
         return ;

     motors.Move(); // Move them up to 31 degree

     pause_();

     motors.Move(-); // Move them down to 31 degree.

     pause_();

     motors.Move();
     return ;
 }

参考资料：

使用OpenNI 控制Kinect 的马达

2013-10-30