kinectを用いた深度バッファの表示 (ID:72657)

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kinectを用いた深度バッファ画像を下記のソースで表示したいのですが、言画像は表示されたのに深度画像が表示されません。表示方法を教えてください。

#include <stdio.h>
#include <conio.h> // for _kbhit and _getch 
#include <cv.h>
#include <highgui.h>
#include "Kinect-win32.h"

#pragma comment (lib,"cv200.lib")
#pragma comment (lib,"highgui200.lib")
#pragma comment (lib,"cxcore200.lib")
#pragma comment (lib,"Kinect.lib")

// The "Kinect" Project has been added to the project dependencies of this project.

// the listener callback object. Implement these methods to do your own processing
class Listener: public Kinect::KinectListener
{
public:

virtual void KinectDisconnected(Kinect::Kinect *K) 
{
printf("Kinect disconnected!\n");
};

// Depth frame reception complete. this only means the transfer of 1 frame has succeeded. 
// No data conversion/parsing will be done until you call "ParseDepthBuffer" on the kinect 
// object. This is to prevent needless processing in the wrong thread.
virtual void DepthReceived(Kinect::Kinect *K) 
{
K->ParseDepthBuffer();

// K->mDepthBuffer is now valid and usable!
// see Kinect-Demo.cpp for a more complete example on what to do with this buffer
};

// Color frame reception complete. this only means the transfer of 1 frame has succeeded. 
// No data conversion/parsing will be done until you call "ParseColorBuffer" on the kinect 
// object. This is to prevent needless processing in the wrong thread.
virtual void ColorReceived(Kinect::Kinect *K) 
{
K->ParseColorBuffer();

// K->mColorBuffer is now valid and usable!
// see Kinect-Demo.cpp for a more complete example on what to do with this buffer
};

// not functional yet:
virtual void AudioReceived(Kinect::Kinect *K) {};
};

int main(int argc, char **argv)
{
Kinect::KinectFinder KF;
if (KF.GetKinectCount() < 1)
{
printf("Unable to find Kinect devices... Is one connected?\n");
return 0;
}

Kinect::Kinect *K = KF.GetKinect();
if (K == 0)
{
printf("error getting Kinect...\n");
return 0;
};

// create a new Listener instance
Listener *L = new Listener();

// register the listener with the kinect. Make sure you remove the 
// listener before deleting the instance! A good place to unregister 
// would be your listener destructor.
K->AddListener(L);

// SetMotorPosition accepts 0 to 1 range
K->SetMotorPosition(1);

// Led mode ranges from 0 to 7, see the header for possible values
K->SetLedMode(Kinect::Led_Yellow);

// Grab 10 accelerometer values from the kinect
float x,y,z;
for (int i =0 ;i<10;i++)
{
if (K->GetAcceleroData(&x,&y,&z))
{
printf("accelerometer reports: %f,%f,%f\n", x,y,z);
}
Sleep(5);
};

////////////////////

IplImage* depthImage16U = cvCreateImage(cvSize(Kinect::KINECT_DEPTH_WIDTH, Kinect::KINECT_DEPTH_HEIGHT), IPL_DEPTH_16U, 1); // 深度バッファ 
IplImage* depthImage8U = cvCreateImage(cvSize(Kinect::KINECT_DEPTH_WIDTH, Kinect::KINECT_DEPTH_HEIGHT), IPL_DEPTH_8U, 1);
IplImage* colorImage = cvCreateImage(cvSize(Kinect::KINECT_COLOR_WIDTH, Kinect::KINECT_COLOR_HEIGHT), IPL_DEPTH_8U, 3); // 画像バッファ
int depth_memsize = Kinect::KINECT_DEPTH_WIDTH * Kinect::KINECT_DEPTH_HEIGHT * sizeof(short); // 深度バッファメモリサイズ 
int color_memsize = Kinect::KINECT_COLOR_WIDTH * Kinect::KINECT_COLOR_HEIGHT * 3 * sizeof(unsigned char); // 画像バッファメモリサイズ
cvNamedWindow("depthbuf", CV_WINDOW_AUTOSIZE); 
cvNamedWindow("colorbuf", CV_WINDOW_AUTOSIZE); 
int c = 0; 
double scale = 255.0 / 2047.0;

////////////////////////////////while文はじまり
while(1){ 
// 深度バッファの取得 
memcpy(depthImage16U->imageData, K->mDepthBuffer, depth_memsize); 
cvConvertScaleAbs(depthImage16U, depthImage8U, scale); // 表示用に8bitへ変換 
// 画像バッファの取得 
memcpy(colorImage->imageData, K->mColorBuffer, color_memsize); 
cvCvtColor(colorImage, colorImage, CV_RGB2BGR); // RGBの順に並んでいるのでBGRへ変換
// バッファの表示 
cvShowImage("depthbuf", depthImage8U); 
cvShowImage("colorbuf", colorImage);

// 終了判定(ESCキーで終了) 
c = cvWaitKey(2); 
if(c == '\x1b'){ 
break; 
} 
}
////////////////////////////////while文おわり

cvDestroyAllWindows(); 
cvReleaseImage(&depthImage16U); 
cvReleaseImage(&depthImage8U); 
cvReleaseImage(&colorImage);

/////////////////////

printf("press any key to quit...");
while (!_kbhit())
{
Sleep(5);
};
_getch();

// remove and delete the listener instance
K->RemoveListener(L);
delete L;

//turn the led off
K->SetLedMode(Kinect::Led_Off);

// when the KinectFinder instance is destroyed, it will tear down and free all kinects.
return 0;

};

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