Skip to content

features: change support 2 kinects to support multiply kinects #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

features: change support 2 kinects to support multiply kinects #1

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
75 changes: 37 additions & 38 deletions OpenCV_TwoKinects/Source_2.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,34 +15,42 @@ using namespace std;
using namespace cv;
using namespace sen;

int main(int argc, char **argv)
int main(int argc, char** argv)
{
const uint32_t deviceCount = k4a::device::get_installed_count();
if (deviceCount == 0)
std::cout << "current " << deviceCount << " kinect(s) are connected." << std::endl;
if (deviceCount < 1)
{
cout << "no azure kinect devices detected!" << endl;
cerr << "device list is empty." << std::endl;
return -1;
}

k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config.camera_fps = K4A_FRAMES_PER_SECOND_30;
config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
config.color_resolution = K4A_COLOR_RESOLUTION_720P;
config.synchronized_images_only = true;
std::vector<k4a::device> sub_list(deviceCount);
cout << "Started opening sub devices..." << endl;
for (int i = 1; i < deviceCount; i++)
{
sub_list[i] = k4a::device::open(i);
sub_list[i].start_cameras(&config);
cout << "Opening sub device "<< i << endl;
}
cout << "Started opening master device..." << endl;
sub_list[0] = k4a::device::open(K4A_DEVICE_DEFAULT);
sub_list[0].start_cameras(&config);

cout << "Started opening K4A device..." << endl;
k4a::device dev_sub = k4a::device::open(1);
dev_sub.start_cameras(&config);
k4a::device dev_master = k4a::device::open(K4A_DEVICE_DEFAULT);
dev_master.start_cameras(&config);
cout << "Finished opening K4A device." << endl;

std::vector<Pixel> depthTextureBuffer;
std::vector<Pixel> irTextureBuffer;
uint8_t *colorTextureBuffer;

k4a::capture capture_master;
k4a::capture capture_sub;
//device:0 master device:1-x sub
std::vector<k4a::capture> capture_list(deviceCount);

k4a::image depthImage;
k4a::image colorImage;
Expand All @@ -54,29 +62,19 @@ int main(int argc, char **argv)

while (1)
{
if (dev_master.get_capture(&capture_master, std::chrono::milliseconds(0)) && dev_sub.get_capture(&capture_sub, std::chrono::milliseconds(0)))
bool capture_status = true;
for (int i = 0; i < deviceCount; i++)
{
capture_status = capture_status && sub_list[i].get_capture(&capture_list[i], std::chrono::milliseconds(0));
}

if (capture_status)
{
for (int i = 0; i < deviceCount; i++)
{
depthImage = capture_master.get_depth_image();
colorImage = capture_master.get_color_image();
irImage = capture_master.get_ir_image();

ColorizeDepthImage(depthImage, DepthPixelColorizer::ColorizeBlueToRed, GetDepthModeRange(config.depth_mode), &depthTextureBuffer);
ColorizeDepthImage(irImage, DepthPixelColorizer::ColorizeGreyscale, GetIrLevels(K4A_DEPTH_MODE_PASSIVE_IR), &irTextureBuffer);
colorTextureBuffer = colorImage.get_buffer();

depthFrame = cv::Mat(depthImage.get_height_pixels(), depthImage.get_width_pixels(), CV_8UC4, depthTextureBuffer.data());
colorFrame = cv::Mat(colorImage.get_height_pixels(), colorImage.get_width_pixels(), CV_8UC4, colorTextureBuffer);
irFrame = cv::Mat(irImage.get_height_pixels(), irImage.get_width_pixels(), CV_8UC4, irTextureBuffer.data());
cv::imshow("kinect depth map master", depthFrame);
cv::imshow("kinect color frame master", colorFrame);
cv::imshow("kinect ir frame master", irFrame);
}

{
depthImage = capture_sub.get_depth_image();
colorImage = capture_sub.get_color_image();
irImage = capture_sub.get_ir_image();
depthImage = capture_list[i].get_depth_image();
colorImage = capture_list[i].get_color_image();
irImage = capture_list[i].get_ir_image();

ColorizeDepthImage(depthImage, DepthPixelColorizer::ColorizeBlueToRed, GetDepthModeRange(config.depth_mode), &depthTextureBuffer);
ColorizeDepthImage(irImage, DepthPixelColorizer::ColorizeGreyscale, GetIrLevels(K4A_DEPTH_MODE_PASSIVE_IR), &irTextureBuffer);
Expand All @@ -85,14 +83,15 @@ int main(int argc, char **argv)
depthFrame = cv::Mat(depthImage.get_height_pixels(), depthImage.get_width_pixels(), CV_8UC4, depthTextureBuffer.data());
colorFrame = cv::Mat(colorImage.get_height_pixels(), colorImage.get_width_pixels(), CV_8UC4, colorTextureBuffer);
irFrame = cv::Mat(irImage.get_height_pixels(), irImage.get_width_pixels(), CV_8UC4, irTextureBuffer.data());
cv::imshow("kinect depth map sub", depthFrame);
cv::imshow("kinect color frame sub", colorFrame);
cv::imshow("kinect ir frame sub", irFrame);
}
cv::imshow(std::to_string(i)+"_kinect depth map master", depthFrame);
cv::imshow(std::to_string(i)+"_kinect depth map master", depthFrame);
cv::imshow(std::to_string(i)+"_kinect color frame master", colorFrame);
cv::imshow(std::to_string(i)+"_kinect ir frame master", irFrame);
}
}
if (waitKey(30) == 27 || waitKey(30) == 'q')
{
dev_master.close();
sub_list[0].close();
break;
}
}
Expand Down