如何使用OpenCV初始化多个OpenNI传感器 [英] How to initialize multiple OpenNI sensors with OpenCV

问题描述

我想在OpenCV(2.4.4)中使用两个Asus Xtion Pro传感器，但不确定如何初始化两个设备.

I'd like to use two Asus Xtion Pro sensors with OpenCV (2.4.4) and not sure how to initialize both devices.

我可以这样初始化一个:

I can initialize one like so:

VideoCapture capture;
capture.open(CV_CAP_OPENNI);

如何为两个单独的传感器初始化两个VideoCapture实例?

How can I initialize two VideoCapture instances for two separate sensors ?

推荐答案

原来如此简单:

VideoCapture sensor1;sensor1.open(CV_CAP_OPENNI_ASUS);
VideoCapture sensor2;sensor2.open(CV_CAP_OPENNI_ASUS+1);

一个非常基本的可运行示例是:

A very basic runnable example is:

#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"

#include <iostream>

using namespace cv;
using namespace std;

int main(){
cout << "opening device(s)" << endl;

VideoCapture sensor1;sensor1.open(CV_CAP_OPENNI_ASUS);
VideoCapture sensor2;sensor2.open(CV_CAP_OPENNI_ASUS+1);

if( !sensor1.isOpened() ){
    cout << "Can not open capture object 1." << endl;
    return -1;
}

for(;;){
    Mat depth1,depth2;

    if( !sensor1.grab() ){
        cout << "Sensor1 can not grab images." << endl;
        return -1;
    }else if( sensor1.retrieve( depth1, CV_CAP_OPENNI_DEPTH_MAP ) ) imshow("depth1",depth1);

    if( !sensor2.grab() ){
        cout << "Sensor2 can not grab images." << endl;
        return -1;
    }else if( sensor2.retrieve( depth2, CV_CAP_OPENNI_DEPTH_MAP ) ) imshow("depth2",depth2);

    if( waitKey( 30 ) == 27 )   break;



   }
}

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