libfreenect2同时获取2台kinect2相机拍摄的图片——成功的代码在最后

最新推荐文章于 2024-09-09 10:38:02 发布
最新推荐文章于 2024-09-09 10:38:02 发布
阅读量257 收藏
点赞数 2
文章标签： 计算机视觉 c++
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/weixin_64578084/article/details/142024419
版权 
#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#include <opencv2/opencv.hpp>
#pragma warning( disable : 4996 )
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>

using namespace std;
using namespace cv;
using namespace libfreenect2;

enum
{
	Processor_cl,
	Processor_gl,
	Processor_cpu
};

bool protonect_shutdown = false; // Whether the running application should shut down.
bool save_images = false;        // Flag to indicate when to save images.
bool frames_ready = false;       // Flag to indicate that frames from both cameras are ready.

void sigint_handler(int s)
{
	protonect_shutdown = true;
}

std::string getCurrentTimeString() {
	time_t now = time(0);
	tm *ltm = localtime(&now);
	char buffer[80];
	strftime(buffer, sizeof(buffer), "%Y%m%d_%H%M%S", ltm);
	return std::string(buffer);
}

int main()
{
	// Define variables
	std::cout << "Hello World!" << std::endl;
	libfreenect2::Freenect2 freenect2;
	std::vector<libfreenect2::Freenect2Device*> devices;
	std::vector<libfreenect2::PacketPipeline*> pipelines;
	std::vector<libfreenect2::SyncMultiFrameListener*> listeners;
	std::vector<libfreenect2::FrameMap> frames;

	// Search and initialize sensors
	int numDevices = freenect2.enumerateDevices();
	if (numDevices < 2)
	{
		std::cerr << "Error: Not enough Kinect devices connected!" << std::endl;
		return -1;
	}

	// Configure transfer format
	int depthProcessor = Processor_cl;
	for (int i = 0; i < 2; ++i)
	{
		string serial = freenect2.getDeviceSerialNumber(i);
		std::cout << "SERIAL " << i + 1 << ": " << serial << std::endl;

		libfreenect2::PacketPipeline* pipeline = nullptr;
		if (depthProcessor == Processor_cpu)
		{
			pipeline = new libfreenect2::CpuPacketPipeline();
		}
		else if (depthProcessor == Processor_gl) // if support gl
		{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
			pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
			std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
		}
		else if (depthProcessor == Processor_cl) // if support cl
		{
			pipeline = new libfreenect2::OpenGLPacketPipeline();
			//#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
			//            pipeline = new libfreenect2::OpenCLPacketPipeline();
			//#else
			//            std::cout << "OpenCL pipeline is not supported!" << std::endl;
			//#endif
		}

		if (pipeline)
		{
			libfreenect2::Freenect2Device* dev = freenect2.openDevice(serial, pipeline);
			if (dev == nullptr)
			{
				std::cerr << "Failure opening device " << i + 1 << "!" << std::endl;
				return -1;
			}
			devices.push_back(dev);
			pipelines.push_back(pipeline);

			libfreenect2::SyncMultiFrameListener* listener = new libfreenect2::SyncMultiFrameListener(
				libfreenect2::Frame::Color |
				libfreenect2::Frame::Depth |
				libfreenect2::Frame::Ir);
			listeners.push_back(listener);
			frames.push_back(libfreenect2::FrameMap());

			dev->setColorFrameListener(listener);
			dev->setIrAndDepthFrameListener(listener);
			dev->start();
		}
	}

	signal(SIGINT, sigint_handler);
	protonect_shutdown = false;

	// Create windows
	cv::namedWindow("rgb1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("rgb2", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("ir1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("ir2", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("depth1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("depth2", WND_PROP_ASPECT_RATIO);

	// Define save directory
	std::string save_directory = "C:\\A0fangfang\\shiyan\\9.2\\";

	// Loop to receive frames
	while (!protonect_shutdown)
	{
		for (int i = 0; i < devices.size(); ++i)
		{
			listeners[i]->waitForNewFrame(frames[i]);
			libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];
			libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];
			libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];

			cv::Mat rgbmat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data);
			cv::Mat irmat((int)ir->height, (int)ir->width, CV_32FC1, ir->data);
			cv::Mat depthmat((int)depth->height, (int)depth->width, CV_32FC1, depth->data);

			cv::imshow("rgb" + std::to_string(i + 1), rgbmat);
			cv::imshow("ir" + std::to_string(i + 1), irmat / 4500.0f);
			cv::imshow("depth" + std::to_string(i + 1), depthmat / 4500.0f);

			// Check for keypress to trigger image saving
			int key = cv::waitKey(30);
			if (key == 'q')
			{
				save_images = true; // Set flag to save images on next iteration
			}
			else if (key == 27) // Escape key
			{
				protonect_shutdown = true;
			}

			// Update frames_ready flag when frames from both cameras are available
			if (i == devices.size() - 1 && frames[0].size() > 0 && frames[1].size() > 0)
			{
				frames_ready = true;
				cout << "Frames from both cameras are ready. Press 'q' to save." << endl;
			}

			// Save images if the flag is set and frames from both cameras are ready
			if (save_images && frames_ready)
			{
				std::string timestamp = getCurrentTimeString();
				for (int i = 0; i < devices.size(); ++i)
				{
					std::string filename_rgb = save_directory + "rgb" + std::to_string(i + 1) + "_" + timestamp + ".png";
					std::string filename_ir = save_directory + "ir" + std::to_string(i + 1) + "_" + timestamp + ".png";
					std::string filename_depth = save_directory + "depth" + std::to_string(i + 1) + "_" + timestamp + ".png";

					cv::imwrite(filename_rgb, rgbmat);
					cv::imwrite(filename_ir, irmat / 4500.0f * 255); // Convert to 8-bit
					cv::imwrite(filename_depth, depthmat / 4500.0f * 255); // Convert to 8-bit

					std::cout << "Images from camera " << i + 1 << " saved to " << save_directory << std::endl;
				}
				save_images = false; // Reset flag after saving
				frames_ready = false; // Reset flag after saving
			}

			listeners[i]->release(frames[i]);
		}
	}

	// Close devices
	for (auto dev : devices)
	{
		dev->stop();
		dev->close();
	}

	// Clean up resources
	for (auto pipeline : pipelines)
	{
		delete pipeline;
	}
	for (auto listener : listeners)
	{
		delete listener;
	}
	getchar();
	std::cout << "Goodbye World!" << std::endl;

	return 0;
}

 没有画面—

出图片了，但是无法保证2个同时保存

#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#include <opencv2/opencv.hpp>
#pragma warning( disable : 4996 )
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>

using namespace std;
using namespace cv;
using namespace libfreenect2;

enum
{
	Processor_cl,
	Processor_gl,
	Processor_cpu
};

bool protonect_shutdown = false; // Whether the running application should shut down.
bool save_images = false;        // Flag to indicate when to save images.
bool frames_ready = false;       // Flag to indicate that frames from both cameras are ready.
bool need_to_save = false;
void sigint_handler(int s)
{
	protonect_shutdown = true;
}

std::string getCurrentTimeString() {
	time_t now = time(0);
	tm *ltm = localtime(&now);
	char buffer[80];
	strftime(buffer, sizeof(buffer), "%Y%m%d_%H%M%S", ltm);
	return std::string(buffer);
}

int main()
{
	// Define variables
	std::cout << "Hello World!" << std::endl;
	libfreenect2::Freenect2 freenect2;
	std::vector<libfreenect2::Freenect2Device*> devices;
	std::vector<libfreenect2::PacketPipeline*> pipelines;
	std::vector<libfreenect2::SyncMultiFrameListener*> listeners;
	std::vector<libfreenect2::FrameMap> frames;

	// Search and initialize sensors
	int numDevices = freenect2.enumerateDevices();
	if (numDevices < 2)
	{
		std::cerr << "Error: Not enough Kinect devices connected!" << std::endl;
		return -1;
	}

	// Configure transfer format
	int depthProcessor = Processor_cl;
	for (int i = 0; i < 2; ++i)
	{
		string serial = freenect2.getDeviceSerialNumber(i);
		std::cout << "SERIAL " << i + 1 << ": " << serial << std::endl;

		libfreenect2::PacketPipeline* pipeline = nullptr;
		if (depthProcessor == Processor_cpu)
		{
			pipeline = new libfreenect2::CpuPacketPipeline();
		}
		else if (depthProcessor == Processor_gl) // if support gl
		{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
			pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
			std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
		}
		else if (depthProcessor == Processor_cl) // if support cl
		{
			pipeline = new libfreenect2::OpenGLPacketPipeline();
			//#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
			//            pipeline = new libfreenect2::OpenCLPacketPipeline();
			//#else
			//            std::cout << "OpenCL pipeline is not supported!" << std::endl;
			//#endif
		}

		if (pipeline)
		{
			libfreenect2::Freenect2Device* dev = freenect2.openDevice(serial, pipeline);
			if (dev == nullptr)
			{
				std::cerr << "Failure opening device " << i + 1 << "!" << std::endl;
				return -1;
			}
			devices.push_back(dev);
			pipelines.push_back(pipeline);

			libfreenect2::SyncMultiFrameListener* listener = new libfreenect2::SyncMultiFrameListener(
				libfreenect2::Frame::Color |
				libfreenect2::Frame::Depth |
				libfreenect2::Frame::Ir);
			listeners.push_back(listener);
			frames.push_back(libfreenect2::FrameMap());

			dev->setColorFrameListener(listener);
			dev->setIrAndDepthFrameListener(listener);
			dev->start();
		}
	}

	signal(SIGINT, sigint_handler);
	protonect_shutdown = false;

	// Create windows
	cv::namedWindow("rgb1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("rgb2", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("ir1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("ir2", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("depth1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("depth2", WND_PROP_ASPECT_RATIO);

	// Define save directory
	std::string save_directory = "C:\\A0fangfang\\shiyan\\9.2\\";

	// Loop to receive frames
	while (!protonect_shutdown)
	{
		for (int i = 0; i < devices.size(); ++i)
		{
			listeners[i]->waitForNewFrame(frames[i]);
			libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];
			libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];
			libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];

			cv::Mat rgbmat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data);
			cv::Mat irmat((int)ir->height, (int)ir->width, CV_32FC1, ir->data);
			cv::Mat depthmat((int)depth->height, (int)depth->width, CV_32FC1, depth->data);

			cv::imshow("rgb" + std::to_string(i + 1), rgbmat);
			cv::imshow("ir" + std::to_string(i + 1), irmat / 4500.0f);
			cv::imshow("depth" + std::to_string(i + 1), depthmat / 4500.0f);

			// Check for keypress to trigger image saving
			int key = cv::waitKey(30);
			if (key == 'q')
			{
				save_images = true; // Set flag to save images on next iteration
				need_to_save = true; // Set flag to ensure all cameras' images are saved
			}
			else if (key == 27) // Escape key
			{
				protonect_shutdown = true;
			}

			// Save images if the flag is set
			if (save_images && need_to_save)
			{
				std::string timestamp = getCurrentTimeString();
				std::string filename_rgb = save_directory + "rgb" + std::to_string(i + 1) + "_" + timestamp + ".png";
				std::string filename_ir = save_directory + "ir" + std::to_string(i + 1) + "_" + timestamp + ".png";
				std::string filename_depth = save_directory + "depth" + std::to_string(i + 1) + "_" + timestamp + ".png";

				cv::imwrite(filename_rgb, rgbmat);
				cv::imwrite(filename_ir, irmat / 4500.0f * 255); // Convert to 8-bit
				cv::imwrite(filename_depth, depthmat / 4500.0f * 255); // Convert to 8-bit

				std::cout << "Images from camera " << i + 1 << " saved to " << save_directory << std::endl;
			}

			listeners[i]->release(frames[i]);
		}

		// After processing all cameras, reset the save_images and need_to_save flags
		if (save_images)
		{
			save_images = false;
			need_to_save = false;
		}
	}

	// Close devices
	for (auto dev : devices)
	{
		dev->stop();
		dev->close();
	}

	// Clean up resources
	for (auto pipeline : pipelines)
	{
		delete pipeline;
	}
	for (auto listener : listeners)
	{
		delete listener;
	}
	getchar();
	std::cout << "Goodbye World!" << std::endl;

	return 0;
}

 修改

#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#include <opencv2/opencv.hpp>
#pragma warning( disable : 4996 )
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>

using namespace std;
using namespace cv;
using namespace libfreenect2;

enum
{
	Processor_cl,
	Processor_gl,
	Processor_cpu
};

bool protonect_shutdown = false; // Whether the running application should shut down.
bool save_images = false;        // Flag to indicate when to save images.
bool frames_ready = false;       // Flag to indicate that frames from both cameras are ready.

void sigint_handler(int s)
{
	protonect_shutdown = true;
}

std::string getCurrentTimeString() {
	time_t now = time(0);
	tm *ltm = localtime(&now);
	char buffer[80];
	strftime(buffer, sizeof(buffer), "%Y%m%d_%H%M%S", ltm);
	return std::string(buffer);
}

int main()
{
	// Define variables
	std::cout << "Hello World!" << std::endl;
	libfreenect2::Freenect2 freenect2;
	std::vector<libfreenect2::Freenect2Device*> devices;
	std::vector<libfreenect2::PacketPipeline*> pipelines;
	std::vector<libfreenect2::SyncMultiFrameListener*> listeners;
	std::vector<libfreenect2::FrameMap> frames;

	// Search and initialize sensors
	int numDevices = freenect2.enumerateDevices();
	if (numDevices < 2)
	{
		std::cerr << "Error: Not enough Kinect devices connected!" << std::endl;
		return -1;
	}

	// Configure transfer format
	int depthProcessor = Processor_cl;
	for (int i = 0; i < 2; ++i)
	{
		string serial = freenect2.getDeviceSerialNumber(i);
		std::cout << "SERIAL " << i + 1 << ": " << serial << std::endl;

		libfreenect2::PacketPipeline* pipeline = nullptr;
		if (depthProcessor == Processor_cpu)
		{
			pipeline = new libfreenect2::CpuPacketPipeline();
		}
		else if (depthProcessor == Processor_gl) // if support gl
		{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
			pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
		}
		else if (depthProcessor == Processor_cl) // if support cl
		{
			pipeline = new libfreenect2::OpenGLPacketPipeline();
			//#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
			//            pipeline = new libfreenect2::OpenCLPacketPipeline();
			//#else
			//            std::cout << "OpenCL pipeline is not supported!" << std::endl;
			//#endif
		}

		if (pipeline)
		{
			libfreenect2::Freenect2Device* dev = freenect2.openDevice(serial, pipeline);
			if (dev == nullptr)
			{
				std::cerr << "Failure opening device " << i + 1 << "!" << std::endl;
				return -1;
			}
			devices.push_back(dev);
			pipelines.push_back(pipeline);

			libfreenect2::SyncMultiFrameListener* listener = new libfreenect2::SyncMultiFrameListener(
				libfreenect2::Frame::Color |
				libfreenect2::Frame::Depth |
				libfreenect2::Frame::Ir);
			listeners.push_back(listener);
			frames.push_back(libfreenect2::FrameMap());

			dev->setColorFrameListener(listener);
			dev->setIrAndDepthFrameListener(listener);
			dev->start();
		}
	}

	signal(SIGINT, sigint_handler);
	protonect_shutdown = false;

	// Create windows
	cv::namedWindow("rgb1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("rgb2", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("ir1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("ir2", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("depth1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("depth2", WND_PROP_ASPECT_RATIO);

	// Define save directory
	std::string save_directory = "C:\\A0fangfang\\shiyan\\9.2\\";

	// Loop to receive frames
	while (!protonect_shutdown)
	{
		for (int i = 0; i < devices.size(); ++i)
		{
			listeners[i]->waitForNewFrame(frames[i]);
			libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];
			libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];
			libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];

			cv::Mat rgbmat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data);
			cv::Mat irmat((int)ir->height, (int)ir->width, CV_32FC1, ir->data);
			cv::Mat depthmat((int)depth->height, (int)depth->width, CV_32FC1, depth->data);

			cv::imshow("rgb" + std::to_string(i + 1), rgbmat);
			cv::imshow("ir" + std::to_string(i + 1), irmat / 4500.0f);
			cv::imshow("depth" + std::to_string(i + 1), depthmat / 4500.0f);

			// Check for keypress to trigger image saving
			int key = cv::waitKey(30);
			if (key == 'q')
			{
				save_images = true; // Set flag to save images on next iteration
			}
			else if (key == 27) // Escape key
			{
				protonect_shutdown = true;
			}

			// Save images if the flag is set
			if (save_images)
			{
				std::string timestamp = getCurrentTimeString();
				std::string filename_rgb = save_directory + "rgb" + std::to_string(i + 1) + "_" + timestamp + ".png";
				std::string filename_ir = save_directory + "ir" + std::to_string(i + 1) + "_" + timestamp + ".png";
				std::string filename_depth = save_directory + "depth" + std::to_string(i + 1) + "_" + timestamp + ".png";

				cv::imwrite(filename_rgb, rgbmat);
				cv::imwrite(filename_ir, irmat / 4500.0f * 255); // Convert to 8-bit
				cv::imwrite(filename_depth, depthmat / 4500.0f * 255); // Convert to 8-bit

				std::cout << "Camera " << i + 1 << " saved successfully." << std::endl;
			}

			listeners[i]->release(frames[i]);
		}

		// After processing all cameras, reset the save_images flag
		if (save_images)
		{
			save_images = false;
		}
	}

	// Close devices
	for (auto dev : devices)
	{
		dev->stop();
		dev->close();
	}

	// Clean up resources
	for (auto pipeline : pipelines)
	{
		delete pipeline;
	}
	for (auto listener : listeners)
	{
		delete listener;
	}
	getchar();
	std::cout << "Goodbye World!" << std::endl;

	return 0;
}

成功的

#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#pragma warning( disable : 4996 )
#include <opencv2/opencv.hpp>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
#include <mutex>
#include <condition_variable>

using namespace std;
using namespace cv;
using namespace libfreenect2;

enum
{
	Processor_cl,
	Processor_gl,
	Processor_cpu
};

bool protonect_shutdown = false; // Whether the running application should shut down.
bool save_images = false;        // Flag to indicate when to save images.
bool frames_ready = false;       // Flag to indicate that frames from both cameras are ready.

std::mutex frames_mutex;
std::condition_variable frames_cv;

void sigint_handler(int s)
{
	protonect_shutdown = true;
}

std::string getCurrentTimeString() {
	time_t now = time(0);
	tm *ltm = localtime(&now);
	char buffer[80];
	strftime(buffer, sizeof(buffer), "%Y%m%d_%H%M%S", ltm);
	return std::string(buffer);
}

int main()
{
	// Define variables
	std::cout << "Hello World!" << std::endl;
	libfreenect2::Freenect2 freenect2;
	std::vector<libfreenect2::Freenect2Device*> devices;
	std::vector<libfreenect2::PacketPipeline*> pipelines;
	std::vector<libfreenect2::SyncMultiFrameListener*> listeners;
	std::vector<libfreenect2::FrameMap> frames;

	// Search and initialize sensors
	int numDevices = freenect2.enumerateDevices();
	if (numDevices < 2)
	{
		std::cerr << "Error: Not enough Kinect devices connected!" << std::endl;
		return -1;
	}

	// Configure transfer format
	int depthProcessor = Processor_cl;
	for (int i = 0; i < 2; ++i)
	{
		string serial = freenect2.getDeviceSerialNumber(i);
		std::cout << "SERIAL " << i + 1 << ": " << serial << std::endl;

		libfreenect2::PacketPipeline* pipeline = nullptr;
		if (depthProcessor == Processor_cpu)
		{
			pipeline = new libfreenect2::CpuPacketPipeline();
		}
		else if (depthProcessor == Processor_gl) // if support gl
		{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
			pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
			std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
		}
		else if (depthProcessor == Processor_cl) // if support cl
		{
			pipeline = new libfreenect2::OpenGLPacketPipeline();
			//#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
			//            pipeline = new libfreenect2::OpenCLPacketPipeline();
			//#else
			//            std::cout << "OpenCL pipeline is not supported!" << std::endl;
			//#endif
		}

		if (pipeline)
		{
			libfreenect2::Freenect2Device* dev = freenect2.openDevice(serial, pipeline);
			if (dev == nullptr)
			{
				std::cerr << "Failure opening device " << i + 1 << "!" << std::endl;
				return -1;
			}
			devices.push_back(dev);
			pipelines.push_back(pipeline);

			libfreenect2::SyncMultiFrameListener* listener = new libfreenect2::SyncMultiFrameListener(
				libfreenect2::Frame::Color |
				libfreenect2::Frame::Depth |
				libfreenect2::Frame::Ir);
			listeners.push_back(listener);
			frames.push_back(libfreenect2::FrameMap());

			dev->setColorFrameListener(listener);
			dev->setIrAndDepthFrameListener(listener);
			dev->start();
		}
	}

	signal(SIGINT, sigint_handler);
	protonect_shutdown = false;

	// Create windows
	cv::namedWindow("rgb1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("rgb2", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("ir1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("ir2", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("depth1", WND_PROP_ASPECT_RATIO);
	cv::namedWindow("depth2", WND_PROP_ASPECT_RATIO);

	// Define save directory
	std::string save_directory = "C:\\A0fangfang\\shiyan\\9.2\\";

	// Loop to receive frames
	while (!protonect_shutdown)
	{
		for (int i = 0; i < devices.size(); ++i)
		{
			listeners[i]->waitForNewFrame(frames[i]);
			libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];
			libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];
			libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];

			cv::Mat rgbmat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data);
			cv::Mat irmat((int)ir->height, (int)ir->width, CV_32FC1, ir->data);
			cv::Mat depthmat((int)depth->height, (int)depth->width, CV_32FC1, depth->data);

			cv::imshow("rgb" + std::to_string(i + 1), rgbmat);
			cv::imshow("ir" + std::to_string(i + 1), irmat / 4500.0f);
			cv::imshow("depth" + std::to_string(i + 1), depthmat / 4500.0f);

			// Check for keypress to trigger image saving
			int key = cv::waitKey(30);
			if (key == 'q')
			{
				save_images = true; // Set flag to save images on next iteration
			}
			else if (key == 27) // Escape key
			{
				protonect_shutdown = true;
			}

			// Signal that a frame is ready
			{
				std::lock_guard<std::mutex> lock(frames_mutex);
				frames_ready = true;
			}
			frames_cv.notify_one();
		}

		// Wait until all frames are ready before proceeding
		{
			std::unique_lock<std::mutex> lock(frames_mutex);
			frames_cv.wait(lock, [] { return frames_ready; });
		}

		// Save images if the flag is set
		if (save_images)
		{
			std::string timestamp = getCurrentTimeString();
			for (int i = 0; i < devices.size(); ++i)
			{
				libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];
				libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];
				libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];

				std::string filename_rgb = save_directory + "rgb" + std::to_string(i + 1) + "_" + timestamp + ".png";
				std::string filename_ir = save_directory + "ir" + std::to_string(i + 1) + "_" + timestamp + ".png";
				std::string filename_depth = save_directory + "depth" + std::to_string(i + 1) + "_" + timestamp + ".png";

				cv::imwrite(filename_rgb, cv::Mat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data));
				cv::imwrite(filename_ir, cv::Mat((int)ir->height, (int)ir->width, CV_32FC1, ir->data) / 4500.0f * 255);
				cv::imwrite(filename_depth, cv::Mat((int)depth->height, (int)depth->width, CV_32FC1, depth->data) / 4500.0f * 255);

				std::cout << "Camera " << i + 1 << " saved successfully." << std::endl;
			}
			save_images = false; // Reset the flag after saving
			frames_ready = false; // Reset the flag after saving
		}

		// Release frames
		for (int i = 0; i < devices.size(); ++i)
		{
			listeners[i]->release(frames[i]);
		}
	}

	// Close devices
	for (auto dev : devices)
	{
		dev->stop();
		dev->close();
	}

	// Clean up resources
	for (auto pipeline : pipelines)
	{
		delete pipeline;
	}
	for (auto listener : listeners)
	{
		delete listener;
	}
	getchar();
	std::cout << "Goodbye World!" << std::endl;

	return 0;
}

想去看海985
关注
  • 2
    点赞
  • 踩
  • 0
    收藏
    觉得还不错? 一键收藏
  • 0
    评论
Python+KinectV2——PyKinect
scy261983626的博客
01-19 1万+
文章目录Python调用Kinect 2前言工作环境Pykinect安装 Python调用Kinect 2 前言 Kinect 2 是微软的一款深度相机，微软本身提供了很好的SDK支持，SDK中包括了多个基础的API，例如RGB和Depth图像对齐，相机标定，图像像素空间转换，人体骨架识别函数等。但是其原生接口是C++的，并没有直接提供python的接口。 在Python中开发Kinect 目前有...
ElasticFusion: 用kinect-v2在Ubuntu16.04下跑Elasticfusion 编译运行过程实验记录
qq_34622997的博客
12-28 3182
ElasticFusion简介： 略 硬件配置: 笔记本 i7-7700, 显卡 英伟达 1050TI Ubuntu16.04 ,摄像头 kinect2 , cuda9.0 一、下载源码，安装基本依赖，编译跑通数据集 编译准备：下载官方给出的的依赖如下 sudo apt-get install -y cmake-qt-gui git build-essential libusb-1.0...
Ubuntu16.04安装kinect v2驱动libfreenect2 ，ROS环境下Kinect v2安装配置
creative1的博客
12-24 2226
Ubuntu16.04安装kinect v2驱动 ，ROS环境下Kinect v2安装配置 ros环境已安装 Kinect V2相机 Kinect2 开源驱动：[https://github.com/OpenKinect/libfreenect2](https://github.com/OpenKinect/libfreenect2) kinect2--> ros的bridge：[https://github.com/code-iai/iai_kinect2](
ROS 环境下 Kinect V2 开发（5） —— ROS下获取骨骼数据
半吊子攻城狮的技术专栏
05-15 3235
平台环境 Ubuntu14.04 32位 ROS indigo 处理器：Inter(R) Celeron(R) CPU N3160 @ 1.60GHz x 4 libfreenect2 驱动 iai_kinect2 接口 OpenNI2 接口 Nite2 控件 说明 该功能包是在 openni_tracker 的基础上做的修改，里面用来显示图像的部分都被注释掉了，所以运行节点之后只...
Kinect系列1：(Windows环境配置)Python3+Pykinect2+KinectV2相机读取彩色图与深度图
MZH1627的博客
03-26 2185
而相比Kinect V1，Kinect V2具有较大的红外传感器尺寸，并且（相对于其他深度相机）具有较宽阔的视场角，生成的深度图质量比较高。此外，Kinect V2的SDK非常给力，SDK中提供了同时最多进行六个人的骨架追踪、基本的手势操作和脸部跟踪，支持 Cinder 和 Open Frameworks，并且具有内置的Unity 3D插件。4、接下来会遇到这个报错，此报错是由于该版本的comtypes库是基于Python2编写的，与现在环境的Python3版本不兼容。Anaconda版本：4.14.0。
【论文翻译】用于移动机器人导航的Kinect v2:评估和建模
hehedadaq的博客
06-04 2472
吐槽：哇，为了图像检测的期末报告，我花了两天时间，真是一句一句的翻译过来了。话说中文网站资料是真的靠不住。。。为了Kinect2的使用，我在中文网站上摸索了一个多月，自己摸鱼走了快两个月的弯路，原来很多东西，早就有大佬做过了。。。英语真他么重要~正文——用于移动机器人导航的Kinect v2：评估和建模Kinectv2 for Mobile Robot Navigation:Evaluationa...
ROS实验笔记之——XBOX Kinect2 的使用及基于RTAB-MAP的建图
gwpscut的博客
03-31 1393
最近准备弄一下ORB-SLAM的实验，先写下本博文记录一下Kinect2的配置~ 补充 按照网上的资料安装好驱动如下： ./bin/Protonect 然后安装包 再运行 roscore roslaunch kinect2_bridge kinect2_bridge.launch rosrun kinect2_viewer kinect2_viewer roslaunch kinect2_bridge kinect2_bridge.lau...
Ubuntu20.04+ROS Noetic配置Kinect V2问题记录
lwc466446的博客
01-02 861
解决方法：找到报错的功能包修改对应的CMakelist.txt，我的图示里面为iai_kinect2/kinect2_viewer。Global Options记得修改为相机坐标系：kinect2_rgb_optical_frame。解决方法：找到报错的cpp文件，将红色报错信息的CV_****修改为cv::****具体如图所示，一堆红色！
ubuntu18.04环境下Kinect V2调试过程记录
ABC1219883141的博客
11-02 1452
##ubuntu18.04环境下Kinect V2调试过程记录 Kinect在ubuntu上没有官方的库，只有github上开源的libfreenect2 git clone https://github.com/OpenKinect/libfreenect2.git cd libfreenect2
Kinect V1 在ROS下的开发——（1）如何在ROS下使用Kinect
EasykikisQAQ的博客
04-03 1531
声明： 本博客为博主原创文章，转载请标明出处介绍前些日子接导师指令去某研究所实习两周，主要实习内容是在ROS下开发Kinect以及UR10机械臂实现物料分解的应用demo。博主与室友一同做这个 项目，博主负责Kinect的开发，室友负责UR10的开发。接下来我将详细介绍Kinect开发的一些需要注意的地方。开发环境Ubuntu14.04 64位 + ROS indigo + Kinect V1
ROS(kinetic)入门 & turtlebot2(kinect2)入坑 & ORBSLAM2
Steven的博客
08-16 1167
ROS是寄生在Linux上的（而且和Ubuntu的关系最亲密，兼容性最好），所以在安装ROS之前首先需要电脑已经安装了Linux（最好是Ubuntu）操作系统，而且不同的ROS版本之间的兼容性也是不怎么好滴，不同的ROS版本都是有官方推荐的搭配的Ubuntu版本的，具体的最好看看ROS官方网站上的推荐（http://wiki.ros.org/），此外推荐一篇不错的文章，https://www.cnblogs.com/liu-fa/p/5779206.html，作者对ROS的安装过程总结的比较好了，照着安装应
图像增强及运算篇之顶帽运算和底帽运算
s44359487yad的博客
09-06 1105
该系列主要讲解了图像数学形态学知识，结合原理和代码详细介绍了图像腐蚀、图像膨胀、图像开运算和闭运算、图像顶帽运算和图像底帽运算等操作。这篇文章详细介绍了顶帽运算和底帽运算，它们将为后续的图像分割和图像识别提供有效支撑。
[数据集][目标检测]百事可乐可口可乐瓶子检测数据集VOC+YOLO格式195张2类别
最新发布
FL1623863129的博客
09-09 511
数据集格式：Pascal VOC格式+YOLO格式(不包含分割路径的txt文件，仅仅包含jpg图片以及对应的VOC格式xml文件和yolo格式txt文件)特别声明：本数据集不对训练的模型或者权重文件精度作任何保证，数据集只提供准确且合理标注。标注类别名称:["bskl","kkkl"]图片数量(jpg文件个数)：195。标注数量(xml文件个数)：195。标注数量(txt文件个数)：195。使用标注工具：labelImg。标注规则：对类别进行画矩形框。bskl 框数 = 214。
[数据集][目标检测]西红柿缺陷检测数据集VOC+YOLO格式17318张3类别
FL1623863129的博客
09-05 571
数据集格式：Pascal VOC格式+YOLO格式(不包含分割路径的txt文件，仅仅包含jpg图片以及对应的VOC格式xml文件和yolo格式txt文件)特别声明：本数据集不对训练的模型或者权重文件精度作任何保证，数据集只提供准确且合理标注。标注类别名称:["Bad","Good","Unripe"]图片数量(jpg文件个数)：17318。标注数量(xml文件个数)：17318。标注数量(txt文件个数)：17318。使用标注工具：labelImg。标注规则：对类别进行画矩形框。
[数据集][目标检测]人脸口罩佩戴目标检测数据集VOC+YOLO格式8068张3类别
FL1623863129的博客
09-06 461
数据集格式：Pascal VOC格式+YOLO格式(不包含分割路径的txt文件，仅仅包含jpg图片以及对应的VOC格式xml文件和yolo格式txt文件)标注类别名称:["face_with_mask","face_without_mask","mask"]特别声明：本数据集不对训练的模型或者权重文件精度作任何保证，数据集只提供准确且合理标注。face_with_mask 框数 = 4429。图片数量(jpg文件个数)：8068。标注数量(xml文件个数)：8068。标注数量(txt文件个数)：8068。
yolo8 目标检测、鉴黄
loveting99的博客
09-03 3369
YOLOv8作为YOLO（You Only Look Once）系列的最新版本，在继承其前代模型优良特性的基础上进行了全面升级。YOLO系列模型自问世以来，以其独特的单阶段检测方法和卓越的实时性能在计算机视觉领域占据了重要位置。YOLOv8的发布标志着目标检测技术的又一里程碑，其在检测速度、精度、灵活性等方面都实现了新的突破，尤其在应用场景的广泛性和复杂性上展现出了更强的适应能力。YOLOv8作为目标检测领域的最新突破，继承了YOLO系列模型的优点，同时在精度和效率上取得了显著的提升。
[数据集][目标检测]汽油检泄漏检测数据集VOC+YOLO格式237张2类别
FL1623863129的博客
09-04 532
数据集格式：Pascal VOC格式+YOLO格式(不包含分割路径的txt文件，仅仅包含jpg图片以及对应的VOC格式xml文件和yolo格式txt文件)特别声明：本数据集不对训练的模型或者权重文件精度作任何保证，数据集只提供准确且合理标注。重要说明：汽油泄漏图片太难找了，因此大部分都是增强的，请仔细查看图片斟酌下载。标注类别名称:["petrol","water"]图片数量(jpg文件个数)：237。标注数量(xml文件个数)：237。标注数量(txt文件个数)：237。标注规则：对类别进行画矩形框。
【路径规划】 使用计算机视觉和机器人操纵器绘制肖像
2401_84610415的博客
09-07 545
本项目展示了使用计算机视觉和机械臂绘制肖像的完整流程。系统利用网络摄像头获取肖像图像，经过图像处理后生成路径，然后利用逆向运动学将路径转化为机械臂的运动轨迹，最终在硬件机器人上执行绘制。
基于python对kinect2采集到的图片进行标定获取相机内参与外参的代码
05-26
以下是基于Python使用OpenCV库对Kinect v2进行相机标定并获取内参与外参的代码： ```python import numpy as np import cv2 import os # 设置标定板大小 board_w = 9 board_h = 6 # 设置标定板尺寸 square_size = 30 # 获取标定板角点坐标 def get_board_corners(image): gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY) ret, corners = cv2.findChessboardCorners(gray, (board_w, board_h), None) if ret: corners = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria=(cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)) return ret, corners # 获取标定板坐标 def get_board_points(): points = np.zeros((board_h * board_w, 3), np.float32) points[:, :2] = np.mgrid[0:board_w, 0:board_h].T.reshape(-1, 2) points *= square_size return points # 读取所有标定板图片 images = [] for filename in os.listdir('calibration_images'): if filename.endswith('.png'): images.append(cv2.imread(os.path.join('calibration_images', filename))) # 获取标定板角点坐标和标定板坐标 board_corners = [] board_points = [] for image in images: ret, corners = get_board_corners(image) if ret: board_corners.append(corners) board_points.append(get_board_points()) # 标定相机 ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(board_points, board_corners, images[0].shape[:2][::-1], None, None) # 输出相机内参和外参 print('相机内参：') print(mtx) print('畸变系数：') print(dist) for i in range(len(images)): print('第{}张图片的外参：'.format(i+1)) print('旋转向量：') print(rvecs[i]) print('平移向量：') print(tvecs[i]) ``` 在运行代码前，需要先将标定板的图片放入名为`calibration_images`的文件夹中，然后修改代码中的标定板大小和尺寸以及标定板图片文件夹的路径。运行代码后会输出相机的内参和每张标定板图片的外参（旋转向量和平移向量）。
评论
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值