Linux下采集Kinect2图像数据（非ROS版）
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准备
- 安装cmake
$ sudo apt-get install build-essential cmake安装libfreenect2，github上面有开源的安装包
2. 安装opencv，自行百度
获取数据
以下将呈现一个相对简单的C++数据获取源码示例。该代码通过引入必要的标准库头文件，在主函数中定义了初始化过程以及数据获取功能，并随后进行了相应的测试运算以验证其正确性。
在本环境中，我采用了libfreenect2库中的预配置好的kinect2标定参数设置。我们仅采集了红外图像数据和深度数据，并且这些数据均以OpenCV Mat容器的形式存储。
#include <iostream>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/config.h>
#include <pcl/pcl_config.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <map>
/** * Get the value of a specified key from a std::map.
* @param m the map
* @param key the key
* @param defaultValue the default value used if the key is not found
* @return the value
*/
template<class K, class V>
inline V uValue(const std::map<K, V> & m, const K & key, const V & defaultValue = V())
{
V v = defaultValue;
typename std::map<K, V>::const_iterator i = m.find(key);
if(i != m.end())
{
v = i->second;
}
return v;
}
/********** global variable begin ************/
int deviceId_;
libfreenect2::Freenect2* freenect2_;
libfreenect2::SyncMultiFrameListener* listener_;
libfreenect2::Freenect2Device* dev_;
libfreenect2::Registration * reg_;
//StereoCameraModel stereoModel_;
/********** global variable end ************/
bool init()
{
libfreenect2::PacketPipeline* pipeline;
pipeline = new libfreenect2::CpuPacketPipeline();
std::cout << ">>> opening default device ..." << std::endl;
dev_ = freenect2_->openDefaultDevice(pipeline);
pipeline = 0;
if(dev_)
{
std::cout << ">>> Had got default device " << std::endl;
libfreenect2::Freenect2Device::Config config;
config.EnableBilateralFilter = true;
config.EnableEdgeAwareFilter = true;
config.MinDepth = 0.3f;
config.MaxDepth = 12.0f;
dev_->setConfiguration(config);
dev_->setColorFrameListener(listener_);
dev_->setIrAndDepthFrameListener(listener_);
dev_->start();
std::cout << ">>> CameraFreenect2: device serial: " << dev_->getSerialNumber() << std::endl;
std::cout << ">>> CameraFreenect2: device firmware: " << dev_->getFirmwareVersion() << std::endl;
//default registration params
libfreenect2::Freenect2Device::IrCameraParams depthParams = dev_->getIrCameraParams();
libfreenect2::Freenect2Device::ColorCameraParams colorParams = dev_->getColorCameraParams();
reg_ = new libfreenect2::Registration(depthParams, colorParams);
// std::string calibrationFolder = "/home/turtlebot/My_project/freenect2Learn_test/config/";
// std::string calibrationName = dev_->getSerialNumber();
// if(!stereoModel_.load(calibrationFolder, calibrationName, false))
// {
// std::cout << "*** Missing calibration files for camera "<< calibrationName <<" in "<< calibrationFolder <<" folder, default calibration used.";
// }
}
return true;
}
void captureImage()
{
if(dev_ && listener_)
{
libfreenect2::FrameMap frames;
if(!listener_->waitForNewFrame(frames,1000))
{
std::cout << "*** CameraFreenect2: Failed to get frames!" << std::endl;
}
else
{
libfreenect2::Frame* rgbFrame = 0;
libfreenect2::Frame* irFrame = 0;
libfreenect2::Frame* depthFrame = 0;
irFrame = uValue(frames, libfreenect2::Frame::Ir, (libfreenect2::Frame*)0);
depthFrame = uValue(frames, libfreenect2::Frame::Depth, (libfreenect2::Frame*)0);
cv::Mat ir,depth;
float fx = 0, fy = 0, cx = 0, cy = 0;
if(irFrame && depthFrame)
{
cv::Mat irMat((int)irFrame->height, (int)irFrame->width, CV_32FC1, irFrame->data);
//convert to gray scaled
float maxIr_ = 0x7FFF;
float minIr_ = 0x0;
const float factor = 255.0f / float((maxIr_ - minIr_));
ir = cv::Mat(irMat.rows, irMat.cols, CV_8UC1);
for(int i=0; i<irMat.rows; ++i)
{
for(int j=0; j<irMat.cols; ++j)
{
ir.at<unsigned char>(i, j) = (unsigned char)std::min(float(std::max(irMat.at<float>(i,j) - minIr_, 0.0f)) * factor, 255.0f);
}
}
cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data).convertTo(depth, CV_16U, 1);
//void flip(InputArray src, OutputArray dst, int flipCode); 参数fipCode: 整数，水平发转；0垂直反转；负数，水平垂直均反转。
cv::flip(ir, ir, 1);
cv::flip(depth, depth, 1);
libfreenect2::Freenect2Device::IrCameraParams params = dev_->getIrCameraParams();
fx = params.fx;
fy = params.fy;
cx = params.cx;
cy = params.cy;
/////////////////////////////////////////////////////////////////////
// show show ir and depth data
// std::cout << "depth rows = " << depth.rows << std::endl;
// std::cout << "depth cols = " << depth.cols << std::endl;
// for (int row = 0; row < depth.rows; row++)
// {
// float* ptr = (float*)(depth.data + row * depth.step); //第row行数据的起始指针
// for (int col = 0; col < depth.cols; col++)
// {
// std::cout << *ptr++ << " ";
// }
// std::cout << std::endl;
// }
/////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////
// std::cout << "ir rows = " << ir.rows << std::endl;
// std::cout << "ir cols = " << ir.cols << std::endl;
// for (int row = 0; row < ir.rows; row++)
// {
// float* ptr = (float*)(ir.data + row * ir.step); //第row行数据的起始指针
// for (int col = 0; col < ir.cols; col++)
// {
// std::cout << *ptr++ << " ";
// }
// std::cout << std::endl;
// }
/////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////
// you should create new thread to do it;
// // show ir and depth image
// if (depth.empty())
// {
// namedWindow("can not show image");
// waitKey();
// return;
// }
// //creat image windows named "My Image"
// namedWindow("Depth image");
// //show the image on window
// imshow("Depth image",depth);
// //wait key for 5000ms
// waitKey(5000);
/////////////////////////////////////////////////////////////////////
}
//data = SensorData(ir, depth, model, this->getNextSeqID(), stamp);
listener_->release(frames);
}
}
}
int main(int argc, char const *argv[])
{
freenect2_ = new libfreenect2::Freenect2();
//listener_ = new libfreenect2::SyncMultiFrameListener(libfreenect2::Frame::Color | libfreenect2::Frame::Ir);
listener_ = new libfreenect2::SyncMultiFrameListener(libfreenect2::Frame::Ir | libfreenect2::Frame::Depth);
/********** initial begin **********/
init();
/********* initial end *************/
captureImage();
/********* destroy begin *************/
delete freenect2_;
delete listener_;
/********* destroy end ***************/
return 0;
}CMakeLists
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project("My Project")
set(CMAKE_CXX_FLAGS "-std=c++11")
# Set cmake prefix path to enable cmake to find freenect2
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} $ENV{HOME}/freenect2/lib/cmake/freenect2)
find_package(freenect2 REQUIRED)
find_package(PCL 1.7 REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
include_directories("/usr/include/libusb-1.0/")
INCLUDE_DIRECTORIES(
${freenect2_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
)
link_directories(
${PCL_LIBRARY_DIRS}
)
add_definitions(
${PCL_DEFINITIONS}
)
add_executable(main ./main.cpp)
target_link_libraries(main ${freenect2_LIBRARIES} ${OpenCV_LIBS})全部评论 (0)
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