怎么实时读取xtion pro live 的信息
时间: 2023-05-18 08:07:06 浏览: 71
要实时读取xtion pro live的信息,您需要使用OpenNI SDK和SensorKinect驱动程序。您可以使用C++编写代码来读取深度、RGB和红外图像。以下是一个简单的代码示例:
```
#include <iostream>
#include <OpenNI.h>
using namespace std;
using namespace openni;
int main()
{
Status rc = OpenNI::initialize();
if (rc != STATUS_OK)
{
cerr << "Failed to initialize OpenNI" << endl;
return 1;
}
Device device;
rc = device.open(ANY_DEVICE);
if (rc != STATUS_OK)
{
cerr << "Failed to open device" << endl;
return 1;
}
VideoStream depthStream;
rc = depthStream.create(device, SENSOR_DEPTH);
if (rc == STATUS_OK)
{
rc = depthStream.start();
if (rc != STATUS_OK)
{
cerr << "Failed to start depth stream" << endl;
depthStream.destroy();
}
}
else
{
cerr << "Failed to create depth stream" << endl;
return 1;
}
VideoStream colorStream;
rc = colorStream.create(device, SENSOR_COLOR);
if (rc == STATUS_OK)
{
rc = colorStream.start();
if (rc != STATUS_OK)
{
cerr << "Failed to start color stream" << endl;
colorStream.destroy();
}
}
else
{
cerr << "Failed to create color stream" << endl;
return 1;
}
VideoFrameRef depthFrame;
VideoFrameRef colorFrame;
while (true)
{
rc = OpenNI::waitForAnyStream(&depthStream, 1, NULL, SAMPLE_READ_WAIT_TIMEOUT);
if (rc != STATUS_OK)
{
cerr << "Wait failed" << endl;
break;
}
rc = depthStream.readFrame(&depthFrame);
if (rc != STATUS_OK)
{
cerr << "Read failed" << endl;
break;
}
rc = OpenNI::waitForAnyStream(&colorStream, 1, NULL, SAMPLE_READ_WAIT_TIMEOUT);
if (rc != STATUS_OK)
{
cerr << "Wait failed" << endl;
break;
}
rc = colorStream.readFrame(&colorFrame);
if (rc != STATUS_OK)
{
cerr << "Read failed" << endl;
break;
}
// Process depth and color frames here
depthStream.releaseFrame(&depthFrame);
colorStream.releaseFrame(&colorFrame);
}
depthStream.destroy();
colorStream.destroy();
device.close();
OpenNI::shutdown();
return 0;
}
```
这段代码使用OpenNI SDK和SensorKinect驱动程序创建了一个深度流和一个RGB流,并在一个无限循环中读取它们的帧。您可以在循环中添加代码来处理深度和颜色帧。