Azure Kinect SDK相机配准

 

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#include <iostream> #include <chrono> #include <cmath> #include <iostream> #include <vector> #include <memory> #include <condition_variable> #include <opencv2/opencv.hpp> #include <string> #include <fstream> #include <sstream> #include <algorithm> #include "mot.h"   #include <opencv2/core/core.hpp> #include <opencv2/highgui/highgui.hpp> #include <thread>   #include <dirent.h> #include <k4a/k4a.hpp> #include <k4a/k4atypes.h>   #define COLOR_NUM 18   /*----  k4a相关声明  ----*/ k4a::device device = k4a::device::open(K4A_DEVICE_DEFAULT); k4a::capture capture; k4a::image rgbImage; k4a::image depthImage; k4a::image transformed_depthImage;   cv::Mat cv_depth; cv::Mat cv_depth_8U; cv::Mat frame_depth;   Mat cv_rgbImage_with_alpha; Mat cv_rgbImage_no_alpha;     condition_variable con_v; bool ready = false; mutex mtx; Mat frame_line;   Mot mot;   Rect last_rect; vector<Point> line_vec;   Rect result; Mat frame;     void get_img() {     const uint32_t device_count = k4a::device::get_installed_count();     cout << "device_count : " << device_count << endl;     k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;     config.camera_fps = K4A_FRAMES_PER_SECOND_30;     config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;     config.color_resolution = K4A_COLOR_RESOLUTION_720P;     config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;     //config.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED;     config.synchronized_images_only = true;     device.start_cameras(&config);     k4a::calibration k4aCalibration = device.get_calibration(config.depth_mode, config.color_resolution);// Get the camera calibration for the entire K4A device, which is used for all transformation functions.     k4a::transformation k4aTransformation = k4a::transformation(k4aCalibration);     cout << "--------- 1 ----------" << endl;     while(1)     {         //cap >> frame;         if(device.get_capture(&capture))         {             rgbImage = capture.get_color_image();             depthImage = capture.get_depth_image();                                                                     cv_rgbImage_with_alpha = cv::Mat(rgbImage.get_height_pixels(), rgbImage.get_width_pixels(), CV_8UC4,                                              (void *) rgbImage.get_buffer());             cv::cvtColor(cv_rgbImage_with_alpha, cv_rgbImage_no_alpha, cv::COLOR_BGRA2BGR);                                         transformed_depthImage = k4aTransformation.depth_image_to_color_camera(depthImage);             cv_depth = cv::Mat(transformed_depthImage.get_height_pixels(), transformed_depthImage.get_width_pixels(), CV_16U,                                (void *) transformed_depthImage.get_buffer(), static_cast<size_t>(transformed_depthImage.get_stride_bytes()));             normalize(cv_depth, cv_depth_8U, 0, 256 * 256, NORM_MINMAX);                    cout << "rgbImage.size() : " << cv_rgbImage_no_alpha.size() << endl;             cout << "cv_depth_8U.size() : " << cv_depth_8U.size() << endl;             //cv_depth_8U.convertTo(cv_depth, CV_8U, 1);                       }         frame = cv_rgbImage_no_alpha.clone();         frame_depth = cv_depth_8U.clone();         imshow("rgb", frame);         imshow("depth", frame_depth);         waitKey(1);     } }         int main() {     get_img();           return 0;       }