更改openni2上的解决方案不工作 [英] Change resolution on openni2 not working
问题描述
我想在640x480读取深度帧。
我使用Windows 8.1 64位，openni2 32位，kinect：PSMP05000，PSCM04900（PrimeSense）
我从这里获取代码引用：
无法设置VGA分辨率
简单阅读
结合使用此代码：
主要。 cpp
OniSampleUtilities.h
SimpleRead.vcxproj
应为编译如果您从这里安装openni2 32位：
OpeniNI 2
#includeiostream
#includeOpenNI.h
#includeOniSampleUtilities.h
#define SAMPLE_READ_WAIT_TIMEOUT 2000 // 2000ms
使用命名空间openni;
using namespace std;
int main（）
{
状态rc = OpenNI :: initialize（）;
if（rc！= STATUS_OK）
{
cout< Initialize failed：<< endl<< OpenNI :: getExtendedError（）<< endl;
return 1;
}
设备设备;
rc = device.open（ANY_DEVICE）;
if（rc！= STATUS_OK）
{
cout< 无法打开设备< endl<< OpenNI :: getExtendedError（）<< endl;
return 2;
}
VideoStream depth;
if（device.getSensorInfo（SENSOR_DEPTH）！= NULL）
{
rc = depth.create（device，SENSOR_DEPTH）;
if（rc！= STATUS_OK）
{
cout< 无法创建深度流< endl<< OpenNI :: getExtendedError（）<< endl;
return 3;
}
}
rc = depth.start（）;
if（rc！= STATUS_OK）
{
cout< 无法启动深度流< endl<< OpenNI :: getExtendedError（）<< endl;
return 4;
}
VideoFrameRef框架;
//设置分辨率
//深度模式
cout<< 深度模式< endl;
const openni :: SensorInfo * sinfo = device.getSensorInfo（openni :: SENSOR_DEPTH）; // select index = 4 640x480,30 fps，1mm
const openni :: Array< openni :: VideoMode>& modesDepth = sinfo-> getSupportedVideoModes（）;
for（int i = 0; i< modesDepth.getSize（）; i ++）{
printf（％i：％ix％i，％i fps，％i format\\\
，i ，modesDepth [i] .getResolutionX（），modesDepth [i] .getResolutionY（），
modesDepth [i] .getFps（），modesDepth [i] .getPixelFormat（） // PIXEL_FORMAT_DEPTH_1_MM = 100，PIXEL_FORMAT_DEPTH_100_UM
}
rc = depth.setVideoMode（modesDepth [0]）;
if（openni :: STATUS_OK！= rc）
{
cout< error：depth fromat not supprted ...< endl;
}
system（pause）;
while（！wasKeyboardHit（））
{
int changedStreamDummy;
VideoStream * pStream =& depth;
rc = OpenNI :: waitForAnyStream（& pStream，1，& changedStreamDummy，SAMPLE_READ_WAIT_TIMEOUT）;
if（rc！= STATUS_OK）
{
cout< 等待失败！（超时为
}
rc = depth.readFrame（& frame）;
if（rc！= STATUS_OK）
{
cout< 读失败！ << endl<< OpenNI :: getExtendedError（）<< endl;
continue;
}
if（frame.getVideoMode（）。getPixelFormat（）！= PIXEL_FORMAT_DEPTH_1_MM&& amp; frame.getVideoMode（）。getPixelFormat（）！= PIXEL_FORMAT_DEPTH_100_UM）
{
cout<< 意外帧格式< endl;
continue;
}
DepthPixel * pDepth =（DepthPixel *）frame.getData（）;
int middleIndex =（frame.getHeight（）+ 1）* frame.getWidth（）/ 2;
printf（[％08llu]％8d \\\
，（long long）frame.getTimestamp（），pDepth [middleIndex]）;
}
depth.stop（）;
depth.destroy（）;
device.close（）;
OpenNI :: shutdown（）;
return 0;
}
有6种操作模式：
0：320x240,30 fps，100格式
1：320x240,30 fps，101格式
2：320x240,60 fps，100格式
3：320x240,60 fps，101格式
4：640x480,30 fps，100格式
5：640x480,30 fps，101格式
它只能从modes = 0-3读取。
在模式4,5，我得到超时。
如何在640x480读取深度帧？
感谢您的帮助，
Tal。
====================================== ============
新信息：
我也使用这一行，我得到相同的结果：
const openni :: SensorInfo * sinfo =&（depth.getSensorInfo（））;
此行从不在任何模式下执行：
cout<< error：depth fromat not supprted ...< endl;
在模式4,5下，我总是得到此行执行：
cout<< 等待失败（超时为
我想也许这是openni2的错误。
在openni1，我可以在同一台计算机，操作系统和设备上读取640x480的深度图像。
p>也许我错了，但我几乎可以肯定，问题是你的顺序。
我认为你应该改变它 before depth.start（）之后 depth.create（device，SENSOR_DEPTH）
所以它应该是这样的
$ b $ 如果我记得正确， b ...
if（device.getSensorInfo（SENSOR_DEPTH）！= NULL）
{
rc = depth.create（device，SENSOR_DEPTH）;
if（rc！= STATUS_OK）
{
cout< 无法创建深度流< endl<< OpenNI :: getExtendedError（）<< endl;
return 3;
}
}
//设置分辨率
//深度模式
cout< 深度模式< endl;
const openni :: SensorInfo * sinfo = device.getSensorInfo（openni :: SENSOR_DEPTH）;
const openni :: Array< openni :: VideoMode>& modesDepth = sinfo-> getSupportedVideoModes（）;
rc = depth.setVideoMode（modesDepth [0]）;
if（openni :: STATUS_OK！= rc）
{
cout< error：depth fromat not supprted ...< endl;
}
rc = depth.start（）;
if（rc！= STATUS_OK）
{
cout< 无法启动深度流< endl<< OpenNI :: getExtendedError（）<< endl;
return 4;
}
VideoFrameRef框架;
...
这有助于你，如果没有，请添加评论。我有一个类似的代码在git存储库中工作我告诉你，有一天，用一个PrimeSense的胭脂红相机测试。
I want to read depth frame at 640x480.
I am using windows 8.1 64bit, openni2 32bit, kinect:PSMP05000,PSCM04900(PrimeSense)
I take code reference from here:
cannot set VGA resolution
Simple Read
Combined to this code:
main.cpp
OniSampleUtilities.h
SimpleRead.vcxproj
should be compiled if you install openni2 32bit from here:
OpeniNI 2
#include "iostream"
#include "OpenNI.h"
#include "OniSampleUtilities.h"
#define SAMPLE_READ_WAIT_TIMEOUT 2000 //2000ms
using namespace openni;
using namespace std;
int main()
{
Status rc = OpenNI::initialize();
if (rc != STATUS_OK)
{
cout << "Initialize failed:" << endl << OpenNI::getExtendedError() << endl;
return 1;
}
Device device;
rc = device.open(ANY_DEVICE);
if (rc != STATUS_OK)
{
cout << "Couldn't open device" << endl << OpenNI::getExtendedError() << endl;
return 2;
}
VideoStream depth;
if (device.getSensorInfo(SENSOR_DEPTH) != NULL)
{
rc = depth.create(device, SENSOR_DEPTH);
if (rc != STATUS_OK)
{
cout << "Couldn't create depth stream" << endl << OpenNI::getExtendedError() << endl;
return 3;
}
}
rc = depth.start();
if (rc != STATUS_OK)
{
cout << "Couldn't start the depth stream" << endl << OpenNI::getExtendedError() << endl;
return 4;
}
VideoFrameRef frame;
// set resolution
// depth modes
cout << "Depth modes" << endl;
const openni::SensorInfo* sinfo = device.getSensorInfo(openni::SENSOR_DEPTH); // select index=4 640x480, 30 fps, 1mm
const openni::Array< openni::VideoMode>& modesDepth = sinfo->getSupportedVideoModes();
for (int i = 0; i<modesDepth.getSize(); i++) {
printf("%i: %ix%i, %i fps, %i format\n", i, modesDepth[i].getResolutionX(), modesDepth[i].getResolutionY(),
modesDepth[i].getFps(), modesDepth[i].getPixelFormat()); //PIXEL_FORMAT_DEPTH_1_MM = 100, PIXEL_FORMAT_DEPTH_100_UM
}
rc = depth.setVideoMode(modesDepth[0]);
if (openni::STATUS_OK != rc)
{
cout << "error: depth fromat not supprted..." << endl;
}
system("pause");
while (!wasKeyboardHit())
{
int changedStreamDummy;
VideoStream* pStream = &depth;
rc = OpenNI::waitForAnyStream(&pStream, 1, &changedStreamDummy, SAMPLE_READ_WAIT_TIMEOUT);
if (rc != STATUS_OK)
{
cout << "Wait failed! (timeout is " << SAMPLE_READ_WAIT_TIMEOUT << " ms)" << endl << OpenNI::getExtendedError() << endl;
continue;
}
rc = depth.readFrame(&frame);
if (rc != STATUS_OK)
{
cout << "Read failed!" << endl << OpenNI::getExtendedError() << endl;
continue;
}
if (frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_1_MM && frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_100_UM)
{
cout << "Unexpected frame format" << endl;
continue;
}
DepthPixel* pDepth = (DepthPixel*)frame.getData();
int middleIndex = (frame.getHeight()+1)*frame.getWidth()/2;
printf("[%08llu] %8d\n", (long long)frame.getTimestamp(), pDepth[middleIndex]);
}
depth.stop();
depth.destroy();
device.close();
OpenNI::shutdown();
return 0;
}
There is 6 mode of operation:
0: 320x240, 30 fps, 100 format
1: 320x240, 30 fps, 101 format
2: 320x240, 60 fps, 100 format
3: 320x240, 60 fps, 101 format
4: 640x480, 30 fps, 100 format
5: 640x480, 30 fps, 101 format
It can read only from modes=0-3.
At mode 4,5 i get timeout.
How i can read depth frame at 640x480?
Thanks for the help,
Tal.
====================================================
new information:
I use also this line, and i get the same results:
const openni::SensorInfo* sinfo = &(depth.getSensorInfo());
This line never execute at any mode:
cout << "error: depth fromat not supprted..." << endl;
At mode 4,5 I always get this line execute:
cout << "Wait failed! (timeout is " << SAMPLE_READ_WAIT_TIMEOUT << " ms)" << endl << OpenNI::getExtendedError() << endl;
I think maybe it a bug at openni2.
At openni1, I can read depth image at 640x480, in the same computer,os and device.
Maybe I am wrong, but I am almost sure that the problem is the order that you are doing it.
I think you should change it before depth.start() and after depth.create(device, SENSOR_DEPTH)
If I remember correctly, once it has started you may bot change the resolution of the stream.
So it should be something like this
...
if (device.getSensorInfo(SENSOR_DEPTH) != NULL)
{
rc = depth.create(device, SENSOR_DEPTH);
if (rc != STATUS_OK)
{
cout << "Couldn't create depth stream" << endl << OpenNI::getExtendedError() << endl;
return 3;
}
}
// set resolution
// depth modes
cout << "Depth modes" << endl;
const openni::SensorInfo* sinfo = device.getSensorInfo(openni::SENSOR_DEPTH);
const openni::Array< openni::VideoMode>& modesDepth = sinfo->getSupportedVideoModes();
rc = depth.setVideoMode(modesDepth[0]);
if (openni::STATUS_OK != rc)
{
cout << "error: depth fromat not supprted..." << endl;
}
rc = depth.start();
if (rc != STATUS_OK)
{
cout << "Couldn't start the depth stream" << endl << OpenNI::getExtendedError() << endl;
return 4;
}
VideoFrameRef frame;
...
I hope that this helps you, if not, please add a comment. I have a similar code working in the git repository I show you the other day, tested with a PrimeSense carmine camera.
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