老师的代码
// Dialog_Test01Dlg.cpp : 实现文件
//#include "stdafx.h"
#include "Dialog_Test01.h"
#include "Dialog_Test01Dlg.h"
#include "afxdialogex.h"#include <iomanip>
#include <time.h>
#include <signal.h>#pragma warning( disable : 4996 )
#include <opencv2/opencv.hpp>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
#include <mutex>
#include <condition_variable>using namespace std;
using namespace cv;
using namespace libfreenect2;//import cv2;
enum
{Processor_cl,Processor_gl,Processor_cpu
};libfreenect2::Freenect2 freenect2;
bool protonect_shutdown = false; // Whether the running application should shut down.
bool save_images = false; // Flag to indicate when to save images.
bool frames_ready = false; // Flag to indicate that frames from both cameras are ready.std::mutex frames_mutex;
std::condition_variable frames_cv;#ifdef _DEBUG
#define new DEBUG_NEW
#endifstd::vector<libfreenect2::Freenect2Device*> devices;
std::vector<libfreenect2::PacketPipeline*> pipelines;
std::vector<libfreenect2::SyncMultiFrameListener*> listeners;
std::vector<libfreenect2::FrameMap> frames;std::string save_directory = "C:\\ImgSave\\";void sigint_handler(int s)
{protonect_shutdown = true;
}std::string getCurrentTimeString() {time_t now = time(0);tm *ltm = localtime(&now);char buffer[80];strftime(buffer, sizeof(buffer), "%Y%m%d_%H%M%S", ltm);return std::string(buffer);
}// 用于应用程序“关于”菜单项的 CAboutDlg 对话框class CAboutDlg : public CDialogEx
{
public:CAboutDlg();// 对话框数据
#ifdef AFX_DESIGN_TIMEenum { IDD = IDD_ABOUTBOX };
#endifprotected:virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 支持// 实现
protected:DECLARE_MESSAGE_MAP()
public:afx_msg void OnTimer(UINT_PTR nIDEvent);
};CAboutDlg::CAboutDlg() : CDialogEx(IDD_ABOUTBOX)
{
}void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{CDialogEx::DoDataExchange(pDX);
}BEGIN_MESSAGE_MAP(CAboutDlg, CDialogEx)ON_WM_TIMER()
END_MESSAGE_MAP()// CDialog_Test01Dlg 对话框CDialog_Test01Dlg::CDialog_Test01Dlg(CWnd* pParent /*=NULL*/): CDialogEx(IDD_DIALOG_TEST01_DIALOG, pParent)
{m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}void CDialog_Test01Dlg::DoDataExchange(CDataExchange* pDX)
{CDialogEx::DoDataExchange(pDX);
}BEGIN_MESSAGE_MAP(CDialog_Test01Dlg, CDialogEx)ON_WM_SYSCOMMAND()ON_WM_PAINT()ON_WM_QUERYDRAGICON()ON_BN_CLICKED(IDC_BUTTON1, &CDialog_Test01Dlg::OnBnClickedButton1)ON_BN_CLICKED(IDC_BUTTON2, &CDialog_Test01Dlg::OnBnClickedButton2)ON_BN_CLICKED(IDC_BUTTON3, &CDialog_Test01Dlg::OnBnClickedButton3)ON_WM_CLOSE()
END_MESSAGE_MAP()// CDialog_Test01Dlg 消息处理程序BOOL CDialog_Test01Dlg::OnInitDialog()
{CDialogEx::OnInitDialog();// 将“关于...”菜单项添加到系统菜单中。// IDM_ABOUTBOX 必须在系统命令范围内。ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);ASSERT(IDM_ABOUTBOX < 0xF000);CMenu* pSysMenu = GetSystemMenu(FALSE);if (pSysMenu != NULL){BOOL bNameValid;CString strAboutMenu;bNameValid = strAboutMenu.LoadString(IDS_ABOUTBOX);ASSERT(bNameValid);if (!strAboutMenu.IsEmpty()){pSysMenu->AppendMenu(MF_SEPARATOR);pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);}}// 设置此对话框的图标。 当应用程序主窗口不是对话框时，框架将自动// 执行此操作//系统初始化// Search and initialize sensorsint numDevices = freenect2.enumerateDevices();if (numDevices < 2){//std::cerr << "Error: Not enough Kinect devices connected!" << std::endl;//MessageBox(L"系统遍历相机失败");//return -1;}SetIcon(m_hIcon, TRUE); // 设置大图标SetIcon(m_hIcon, FALSE); // 设置小图标// TODO: 在此添加额外的初始化代码return TRUE; // 除非将焦点设置到控件，否则返回 TRUE
}void CDialog_Test01Dlg::OnSysCommand(UINT nID, LPARAM lParam)
{if ((nID & 0xFFF0) == IDM_ABOUTBOX){CAboutDlg dlgAbout;dlgAbout.DoModal();}else{CDialogEx::OnSysCommand(nID, lParam);}
}// 如果向对话框添加最小化按钮，则需要下面的代码
// 来绘制该图标。 对于使用文档/视图模型的 MFC 应用程序，
// 这将由框架自动完成。void CDialog_Test01Dlg::OnPaint()
{if (IsIconic()){CPaintDC dc(this); // 用于绘制的设备上下文SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);// 使图标在工作区矩形中居中int cxIcon = GetSystemMetrics(SM_CXICON);int cyIcon = GetSystemMetrics(SM_CYICON);CRect rect;GetClientRect(&rect);int x = (rect.Width() - cxIcon + 1) / 2;int y = (rect.Height() - cyIcon + 1) / 2;// 绘制图标dc.DrawIcon(x, y, m_hIcon);}else{CDialogEx::OnPaint();}
}//当用户拖动最小化窗口时系统调用此函数取得光标
//显示。
HCURSOR CDialog_Test01Dlg::OnQueryDragIcon()
{return static_cast<HCURSOR>(m_hIcon);
}//相机1打开
void CDialog_Test01Dlg::OnBnClickedButton1()
{// TODO: 在此添加控件通知处理程序代码string serial = freenect2.getDeviceSerialNumber(0);libfreenect2::PacketPipeline* pipeline = nullptr;int depthProcessor = Processor_cl;if (depthProcessor == Processor_cpu){pipeline = new libfreenect2::CpuPacketPipeline();}else if (depthProcessor == Processor_gl) // if support gl{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORTpipeline = new libfreenect2::OpenGLPacketPipeline();
#elsestd::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif}else if (depthProcessor == Processor_cl) // if support cl{pipeline = new libfreenect2::OpenGLPacketPipeline();//#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT// pipeline = new libfreenect2::OpenCLPacketPipeline();//#else// std::cout << "OpenCL pipeline is not supported!" << std::endl;//#endif}if (pipeline){libfreenect2::Freenect2Device* dev = freenect2.openDevice(serial, pipeline);if (dev == nullptr){//std::cerr << "Failure opening device " << i + 1 << "!" << std::endl;MessageBox(L"相机打开失败");return;}devices.push_back(dev);pipelines.push_back(pipeline);libfreenect2::SyncMultiFrameListener* listener = new libfreenect2::SyncMultiFrameListener(libfreenect2::Frame::Color |libfreenect2::Frame::Depth |libfreenect2::Frame::Ir);listeners.push_back(listener);frames.push_back(libfreenect2::FrameMap());dev->setColorFrameListener(listener);dev->setIrAndDepthFrameListener(listener);dev->start();}signal(SIGINT, sigint_handler);protonect_shutdown = false;// Create windowscv::namedWindow("rgb1", WINDOW_AUTOSIZE);cv::namedWindow("rgb2", WND_PROP_ASPECT_RATIO);cv::namedWindow("ir1", WND_PROP_ASPECT_RATIO);cv::namedWindow("ir2", WND_PROP_ASPECT_RATIO);cv::namedWindow("depth1", WND_PROP_ASPECT_RATIO);cv::namedWindow("depth2", WND_PROP_ASPECT_RATIO);while (!protonect_shutdown){for (int i = 0; i < devices.size(); ++i){listeners[i]->waitForNewFrame(frames[i]);libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];cv::Mat rgbmat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data);cv::Mat irmat((int)ir->height, (int)ir->width, CV_32FC1, ir->data);cv::Mat depthmat((int)depth->height, (int)depth->width, CV_32FC1, depth->data);//cv::imshow("rgb" + std::to_string(i + 1), rgbmat);//cv::imshow("ir" + std::to_string(i + 1), irmat / 4500.0f);//cv::imshow("depth" + std::to_string(i + 1), depthmat / 4500.0f); // 获取窗口句柄//利用GetSafeHwnd()CRect rect[3];CWnd *hwnd_rgb = FindWindow(NULL,L"rgb");CWnd *hwnd_ir = FindWindow(NULL, L"ir");CWnd *hwnd_depth = FindWindow(NULL, L"depth");//GetWindowRect(&rect); // 获取当前窗口的位置和大小if (hwnd_rgb && hwnd_ir && hwnd_depth){ GetDlgItem(IDC_VEDIO3)->GetWindowRect(&rect[0]);::SetParent(hwnd_rgb->m_hWnd, GetDlgItem(IDC_VEDIO5)->m_hWnd); // 设置父窗口。::SetWindowLong(hwnd_rgb->m_hWnd, GWL_STYLE, WS_CHILD | WS_VISIBLE); //改为子窗口属性，WS_POPUP样式 与 WS_CHILD样式互斥::SetWindowPos(hwnd_rgb->m_hWnd,GetDlgItem(IDC_VEDIO5)->m_hWnd,rect[0].left, rect[0].top, rect->Width(), rect->Height(), SWP_SHOWWINDOW);hwnd_rgb->ShowWindow(SW_SHOW);cv::imshow("rgb", rgbmat);//hwnd_rgb->MoveWindow(&rect[0]);GetDlgItem(IDC_VEDIO5)->GetWindowRect(&rect[1]);hwnd_ir->MoveWindow(&rect[1]);GetDlgItem(IDC_VEDIO1)->GetWindowRect(&rect[2]);hwnd_depth->MoveWindow(&rect[2]);}// 移动窗口到新位置// Check for keypress to trigger image savingint key = cv::waitKey(30);if (key == 'q'){save_images = true; // Set flag to save images on next iteration}else if (key == 27) // Escape key{protonect_shutdown = true;}// Signal that a frame is ready{std::lock_guard<std::mutex> lock(frames_mutex);frames_ready = true;}frames_cv.notify_one(); }// Wait until all frames are ready before proceedingstd::unique_lock<std::mutex> lock(frames_mutex);frames_cv.wait(lock, [] { return frames_ready; });// Release frames// Save images if the flag is setif (save_images){std::string timestamp = getCurrentTimeString();for (int i = 0; i < devices.size(); ++i){libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];std::string filename_rgb = save_directory + "rgb" + std::to_string(i + 1) + "_" + timestamp + ".png";std::string filename_ir = save_directory + "ir" + std::to_string(i + 1) + "_" + timestamp + ".png";std::string filename_depth = save_directory + "depth" + std::to_string(i + 1) + "_" + timestamp + ".png";cv::imwrite(filename_rgb, cv::Mat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data));cv::imwrite(filename_ir, cv::Mat((int)ir->height, (int)ir->width, CV_32FC1, ir->data) / 4500.0f * 255);cv::imwrite(filename_depth, cv::Mat((int)depth->height, (int)depth->width, CV_32FC1, depth->data) / 4500.0f * 255);std::cout << "Camera " << i + 1 << " saved successfully." << std::endl;}save_images = false; // Reset the flag after savingframes_ready = false; // Reset the flag after saving}for (int i = 0; i < devices.size(); ++i){listeners[i]->release(frames[i]);}}
}//相机2打开
void CDialog_Test01Dlg::OnBnClickedButton2()
{// TODO: 在此添加控件通知处理程序代码cv::namedWindow("view", cv::WINDOW_AUTOSIZE);HWND hWnd = FindWindow(NULL, L"view")->m_hWnd;HWND hParent = ::GetParent(hWnd);::SetParent(hWnd, GetDlgItem(IDC_VEDIO4)->m_hWnd);::ShowWindow(hParent, SW_SHOW);cv::VideoCapture capture(0);//这里是摄像头个数一个一个试 0 1 2，前置摄像头会有一个镜像显示的问题if (!capture.isOpened()){MessageBox(_T("打开摄像头失败"));EndDialog(IDCANCEL);//把这个窗口也关掉return ;}else {capture.open(0); /*Mat frame;while (1){capture >> frame;if (frame.empty())break;imshow("view", frame);if (waitKey(25) > 0)//按下任意键退出摄像头break;}capture.release();destroyAllWindows();//关闭所有窗口*/}//capture.release();/*cv::Mat frame;cv::Mat showFrame;BOOL boob_isShutter = FALSE;//是拍照BOOL b_takingPhoto = TRUE;//正在拍照m_strTakePhotoPathName.Empty();while (TRUE){capture >> frame;//得到摄像头的一帧数据resize(frame, showFrame, cv::Size(picRect.Width(), picRect.Height()));//设置这一帧图片的大小是pic控件的大小imshow("view", showFrame);//显示cv::waitKey(33);//设置帧率是30帧左右if (!b_takingPhoto){if (b_isShutter){CString strPath, strName, strPathName;strPath = //算一下路径if (strPath.IsEmpty()){return FALSE;}strName = _T("\\") + m_strPicName + _T(".jpg");strPathName = strPath + strName;char chPathName[MAX_PATH];WideCharToMultiByte(CP_ACP, 0, LPCTSTR(strPathName), -1, chPathName, MAX_PATH, NULL, NULL);//保存这一帧图片BOOL ret;ret = imwrite(chPathName, frame);if (!ret){MessageBox(_T("照片保存失败"));}else{m_strTakePhotoPathName = strPathName;//图片的路径和名字}}break;}}frame.release();showFrame.release();//EndDialog(IDCANCEL);//关闭窗口*/// return ; // return TRUE unless you set the focus to a control// 异常: OCX 属性页应返回 FALSE
}void CDialog_Test01Dlg::OnBnClickedButton3()
{// TODO: 在此添加控件通知处理程序代码save_images = true;
}void CDialog_Test01Dlg::OnClose()
{// TODO: 在此添加消息处理程序代码和/或调用默认值// Close devicesfor (auto dev : devices){dev->stop();dev->close();}// Clean up resourcesfor (auto pipeline : pipelines){delete pipeline;}for (auto listener : listeners){delete listener;}CDialogEx::OnClose();
}void CAboutDlg::OnTimer(UINT_PTR nIDEvent)
{// TODO: 在此添加消息处理程序代码和/或调用默认值CDialogEx::OnTimer(nIDEvent);
}
我的代码
// Dialog_Test01Dlg.cpp : 实现文件
//#include "stdafx.h"
#include "Dialog_Test01.h"
#include "Dialog_Test01Dlg.h"
#include "afxdialogex.h"#include <iomanip>
#include <time.h>
#include <signal.h>
#pragma warning( disable : 4996 )
#include <opencv2/opencv.hpp>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
#include <mutex>
#include <condition_variable>using namespace std;
using namespace cv;
using namespace libfreenect2;//import cv2;
enum
{Processor_cl,Processor_gl,Processor_cpu
};libfreenect2::Freenect2 freenect2;
bool protonect_shutdown = false; // 是否应该关闭运行中的应用。
bool save_images = false; // 表示何时保存图像的标志。
bool frames_ready = false; // 表示来自两个相机的帧已准备好的标志。std::mutex frames_mutex;
std::condition_variable frames_cv;#ifdef _DEBUG
#define new DEBUG_NEW
#endifstd::vector<libfreenect2::Freenect2Device*> devices;
std::vector<libfreenect2::PacketPipeline*> pipelines;
std::vector<libfreenect2::SyncMultiFrameListener*> listeners;
std::vector<libfreenect2::FrameMap> frames;std::string save_directory = "C:\\ImgSave\\";void sigint_handler(int s)
{protonect_shutdown = true;
}std::string getCurrentTimeString() {time_t now = time(0);tm *ltm = localtime(&now);char buffer[80];strftime(buffer, sizeof(buffer), "%Y%m%d_%H%M%S", ltm);return std::string(buffer);
}// 用于应用程序“关于”菜单项的 CAboutDlg 对话框class CAboutDlg : public CDialogEx
{
public:CAboutDlg();// 对话框数据
#ifdef AFX_DESIGN_TIMEenum { IDD = IDD_ABOUTBOX };
#endifprotected:virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 支持// 实现
protected:DECLARE_MESSAGE_MAP()
public:afx_msg void OnTimer(UINT_PTR nIDEvent);
};CAboutDlg::CAboutDlg() : CDialogEx(IDD_ABOUTBOX)
{
}void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{CDialogEx::DoDataExchange(pDX);
}BEGIN_MESSAGE_MAP(CAboutDlg, CDialogEx)ON_WM_TIMER()
END_MESSAGE_MAP()// CDialog_Test01Dlg 对话框CDialog_Test01Dlg::CDialog_Test01Dlg(CWnd* pParent /*=NULL*/): CDialogEx(IDD_DIALOG_TEST01_DIALOG, pParent)
{m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}void CDialog_Test01Dlg::DoDataExchange(CDataExchange* pDX)
{CDialogEx::DoDataExchange(pDX);
}BEGIN_MESSAGE_MAP(CDialog_Test01Dlg, CDialogEx)ON_WM_SYSCOMMAND()ON_WM_PAINT()ON_WM_QUERYDRAGICON()ON_BN_CLICKED(IDC_BUTTON1, &CDialog_Test01Dlg::OnBnClickedButton1)ON_BN_CLICKED(IDC_BUTTON2, &CDialog_Test01Dlg::OnBnClickedButton2)ON_BN_CLICKED(IDC_BUTTON3, &CDialog_Test01Dlg::OnBnClickedButton3)ON_WM_CLOSE()
END_MESSAGE_MAP()// CDialog_Test01Dlg 消息处理程序BOOL CDialog_Test01Dlg::OnInitDialog()
{CDialogEx::OnInitDialog();// 将“关于...”菜单项添加到系统菜单中。// IDM_ABOUTBOX 必须在系统命令范围内。ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);ASSERT(IDM_ABOUTBOX < 0xF000);CMenu* pSysMenu = GetSystemMenu(FALSE);if (pSysMenu != NULL){BOOL bNameValid;CString strAboutMenu;bNameValid = strAboutMenu.LoadString(IDS_ABOUTBOX);ASSERT(bNameValid);if (!strAboutMenu.IsEmpty()){pSysMenu->AppendMenu(MF_SEPARATOR);pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);}}// 设置此对话框的图标。 当应用程序主窗口不是对话框时，框架将自动// 执行此操作//系统初始化// Search and initialize sensorsint numDevices = freenect2.enumerateDevices();if (numDevices < 2){//std::cerr << "Error: Not enough Kinect devices connected!" << std::endl;//MessageBox(L"系统遍历相机失败");//return -1;}SetIcon(m_hIcon, TRUE); // 设置大图标SetIcon(m_hIcon, FALSE); // 设置小图标// TODO: 在此添加额外的初始化代码return TRUE; // 除非将焦点设置到控件，否则返回 TRUE
}void CDialog_Test01Dlg::OnSysCommand(UINT nID, LPARAM lParam)
{if ((nID & 0xFFF0) == IDM_ABOUTBOX){CAboutDlg dlgAbout;dlgAbout.DoModal();}else{CDialogEx::OnSysCommand(nID, lParam);}
}// 如果向对话框添加最小化按钮，则需要下面的代码
// 来绘制该图标。 对于使用文档/视图模型的 MFC 应用程序，
// 这将由框架自动完成。void CDialog_Test01Dlg::OnPaint()
{if (IsIconic()){CPaintDC dc(this); // 用于绘制的设备上下文SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);// 使图标在工作区矩形中居中int cxIcon = GetSystemMetrics(SM_CXICON);int cyIcon = GetSystemMetrics(SM_CYICON);CRect rect;GetClientRect(&rect);int x = (rect.Width() - cxIcon + 1) / 2;int y = (rect.Height() - cyIcon + 1) / 2;// 绘制图标dc.DrawIcon(x, y, m_hIcon);}else{CDialogEx::OnPaint();}
}//当用户拖动最小化窗口时系统调用此函数取得光标
//显示。
HCURSOR CDialog_Test01Dlg::OnQueryDragIcon()
{return static_cast<HCURSOR>(m_hIcon);
}//相机1打开
void CDialog_Test01Dlg::OnBnClickedButton1()
{// TODO: 在此添加控件通知处理程序代码string serial = freenect2.getDeviceSerialNumber(0);libfreenect2::PacketPipeline* pipeline = nullptr;int depthProcessor = Processor_cl;if (depthProcessor == Processor_cpu){pipeline = new libfreenect2::CpuPacketPipeline();}else if (depthProcessor == Processor_gl) // if support gl{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORTpipeline = new libfreenect2::OpenGLPacketPipeline();
#elsestd::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif}else if (depthProcessor == Processor_cl) // if support cl{pipeline = new libfreenect2::OpenGLPacketPipeline();//#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT// pipeline = new libfreenect2::OpenCLPacketPipeline();//#else// std::cout << "OpenCL pipeline is not supported!" << std::endl;//#endif}if (pipeline){libfreenect2::Freenect2Device* dev = freenect2.openDevice(serial, pipeline);if (dev == nullptr){//std::cerr << "Failure opening device " << i + 1 << "!" << std::endl;MessageBox(L"相机打开失败");return;}devices.push_back(dev);pipelines.push_back(pipeline);libfreenect2::SyncMultiFrameListener* listener = new libfreenect2::SyncMultiFrameListener(libfreenect2::Frame::Color |libfreenect2::Frame::Depth |libfreenect2::Frame::Ir);listeners.push_back(listener);frames.push_back(libfreenect2::FrameMap());dev->setColorFrameListener(listener);dev->setIrAndDepthFrameListener(listener);dev->start();}signal(SIGINT, sigint_handler);protonect_shutdown = false;// 创建窗口cv::namedWindow("rgb1", WINDOW_AUTOSIZE);cv::namedWindow("rgb2", WND_PROP_ASPECT_RATIO);cv::namedWindow("ir1", WND_PROP_ASPECT_RATIO);cv::namedWindow("ir2", WND_PROP_ASPECT_RATIO);cv::namedWindow("depth1", WND_PROP_ASPECT_RATIO);cv::namedWindow("depth2", WND_PROP_ASPECT_RATIO);while (!protonect_shutdown){for (int i = 0; i < devices.size(); ++i){listeners[i]->waitForNewFrame(frames[i]);libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];cv::Mat rgbmat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data);cv::Mat irmat((int)ir->height, (int)ir->width, CV_32FC1, ir->data);cv::Mat depthmat((int)depth->height, (int)depth->width, CV_32FC1, depth->data);// 获取窗口句柄CWnd *hwnd_rgb = FindWindow(NULL, L"rgb1");CWnd *hwnd_ir = FindWindow(NULL, L"ir1");CWnd *hwnd_depth = FindWindow(NULL, L"depth1");// 设置父窗口并调整样式if (hwnd_rgb && hwnd_ir && hwnd_depth){::SetParent(hwnd_rgb->m_hWnd, GetDlgItem(IDC_VEDIO3)->m_hWnd);::SetWindowLong(hwnd_rgb->m_hWnd, GWL_STYLE, WS_CHILD | WS_VISIBLE);::SetWindowPos(hwnd_rgb->m_hWnd, GetDlgItem(IDC_VEDIO3)->m_hWnd, 0, 0, 0, 0, SWP_NOSIZE | SWP_NOMOVE | SWP_SHOWWINDOW);::SetParent(hwnd_ir->m_hWnd, GetDlgItem(IDC_VEDIO5)->m_hWnd);::SetWindowLong(hwnd_ir->m_hWnd, GWL_STYLE, WS_CHILD | WS_VISIBLE);::SetWindowPos(hwnd_ir->m_hWnd, GetDlgItem(IDC_VEDIO5)->m_hWnd, 0, 0, 0, 0, SWP_NOSIZE | SWP_NOMOVE | SWP_SHOWWINDOW);::SetParent(hwnd_depth->m_hWnd, GetDlgItem(IDC_VEDIO1)->m_hWnd);::SetWindowLong(hwnd_depth->m_hWnd, GWL_STYLE, WS_CHILD | WS_VISIBLE);::SetWindowPos(hwnd_depth->m_hWnd, GetDlgItem(IDC_VEDIO1)->m_hWnd, 0, 0, 0, 0, SWP_NOSIZE | SWP_NOMOVE | SWP_SHOWWINDOW);}// 显示图像cv::imshow("rgb1", rgbmat);cv::imshow("ir1", irmat / 4500.0f);cv::imshow("depth1", depthmat / 4500.0f);// 检查按键以触发图像保存int key = cv::waitKey(30);if (key == 'q'){save_images = true; // 设置标志以在下一迭代时保存图像}else if (key == 27) // Esc键{protonect_shutdown = true;}// 信号表示一帧已准备好{std::lock_guard<std::mutex> lock(frames_mutex);frames_ready = true;}frames_cv.notify_one();}// 等待直到所有帧都准备好才继续std::unique_lock<std::mutex> lock(frames_mutex);frames_cv.wait(lock, [] { return frames_ready; });// 保存图像如果设置了标志if (save_images){std::string timestamp = getCurrentTimeString();for (int i = 0; i < devices.size(); ++i){libfreenect2::Frame* rgb = frames[i][libfreenect2::Frame::Color];libfreenect2::Frame* ir = frames[i][libfreenect2::Frame::Ir];libfreenect2::Frame* depth = frames[i][libfreenect2::Frame::Depth];std::string filename_rgb = save_directory + "rgb" + std::to_string(i + 1) + "_" + timestamp + ".png";std::string filename_ir = save_directory + "ir" + std::to_string(i + 1) + "_" + timestamp + ".png";std::string filename_depth = save_directory + "depth" + std::to_string(i + 1) + "_" + timestamp + ".png";cv::imwrite(filename_rgb, cv::Mat((int)rgb->height, (int)rgb->width, CV_8UC4, rgb->data));cv::imwrite(filename_ir, cv::Mat((int)ir->height, (int)ir->width, CV_32FC1, ir->data) / 4500.0f * 255);cv::imwrite(filename_depth, cv::Mat((int)depth->height, (int)depth->width, CV_32FC1, depth->data) / 4500.0f * 255);std::cout << "Camera " << i + 1 << " saved successfully." << std::endl;}save_images = false; // 保存后重置标志frames_ready = false; // 保存后重置标志}// 释放帧for (int i = 0; i < devices.size(); ++i){listeners[i]->release(frames[i]);}}
}//相机2打开
void CDialog_Test01Dlg::OnBnClickedButton2()
{// TODO: 在此添加控件通知处理程序代码// 这里可以添加打开第二个相机的代码
}void CDialog_Test01Dlg::OnBnClickedButton3()
{// TODO: 在此添加控件通知处理程序代码save_images = true;
}void CDialog_Test01Dlg::OnClose()
{// TODO: 在此添加消息处理程序代码和/或调用默认值// 关闭设备for (auto dev : devices){dev->stop();dev->close();}// 清理资源for (auto pipeline : pipelines){delete pipeline;}for (auto listener : listeners){delete listener;}CDialogEx::OnClose();
}void CAboutDlg::OnTimer(UINT_PTR nIDEvent)
{// TODO: 在此添加消息处理程序代码和/或调用默认值CDialogEx::OnTimer(nIDEvent);
}需要学习的代码
// OpenCV_Test_01Dlg.cpp : 实现文件
//#include "stdafx.h"
#include "OpenCV_Test_01.h"
#include "OpenCV_Test_01Dlg.h"
#include "afxdialogex.h"#ifdef _DEBUG
#define new DEBUG_NEW
#endifBOOL m_bRun;//线程是否正常运行 UINT ThreadProc(LPVOID pParam) //线程函数
{COpenCV_Test_01Dlg* pDlg = (COpenCV_Test_01Dlg*)pParam;while (pDlg->m_bRun){// 打开视频捕获设备pDlg->capture.open(0); // 0 是默认摄像头if (!pDlg->capture.isOpened()){AfxMessageBox(_T("无法打开摄像头"));return 1;}pDlg->flg = TRUE;namedWindow("newWindows", WINDOW_AUTOSIZE);HWND hWnd = (HWND)cvGetWindowHandle("newWindows");::SetParent(hWnd, pDlg->GetDlgItem(IDC_VIDEO)->m_hWnd);CRect rect;pDlg->GetDlgItem(IDC_VIDEO)->GetWindowRect(&rect);::SetWindowPos(hWnd, HWND_BOTTOM, rect.left, rect.top, rect.Width(), rect.Height(), SWP_NOZORDER);Mat frame;while (pDlg->flg){pDlg->capture >> frame;if (frame.empty()){AfxMessageBox(L"视频为空！");break;}if (pDlg->SaveImg)//抓图{//保存未调整大小的原始图像 cv::imwrite(pDlg->ImgPath + pDlg->GetSysTime() + ".jpg", frame);pDlg->SaveImg = FALSE;}//调整帧图像大小，适合控件的大小cv::Mat resizedImage;cv::resize(frame, resizedImage, cv::Size(rect.Width(), rect.Height()), cv::INTER_LINEAR);imshow("newWindows", resizedImage);//隐藏OpenCV窗口，但一直不起作用……，再研究//HWND cvhWnd = ::FindWindow(NULL,_T("newWindows"));//if(cvhWnd !=NULL)//{ // //::ShowWindow(cvhWnd, SW_HIDE);// ::SetWindowPos(cvhWnd, HWND_BOTTOM, rect.left, rect.top, rect.Width(), rect.Height(), SWP_NOZORDER);//}if ((char)waitKey(10) >= 0){break;//按任意键推出}}pDlg->capture.release();destroyAllWindows();}return 0;
}// 用于应用程序“关于”菜单项的 CAboutDlg 对话框class CAboutDlg : public CDialogEx
{
public:CAboutDlg();// 对话框数据
#ifdef AFX_DESIGN_TIMEenum { IDD = IDD_ABOUTBOX };
#endifprotected:virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 支持// 实现
protected:DECLARE_MESSAGE_MAP()
};CAboutDlg::CAboutDlg() : CDialogEx(IDD_ABOUTBOX)
{
}void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{CDialogEx::DoDataExchange(pDX);
}BEGIN_MESSAGE_MAP(CAboutDlg, CDialogEx)
END_MESSAGE_MAP()// COpenCV_Test_01Dlg 对话框COpenCV_Test_01Dlg::COpenCV_Test_01Dlg(CWnd* pParent /*=NULL*/): CDialogEx(IDD_OPENCV_TEST_01_DIALOG, pParent)
{m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}void COpenCV_Test_01Dlg::DoDataExchange(CDataExchange* pDX)
{CDialogEx::DoDataExchange(pDX);
}BEGIN_MESSAGE_MAP(COpenCV_Test_01Dlg, CDialogEx)ON_WM_SYSCOMMAND()ON_WM_PAINT()ON_WM_QUERYDRAGICON()ON_BN_CLICKED(IDC_BUTTON1, &COpenCV_Test_01Dlg::OnBnClickedButton1)ON_WM_TIMER()ON_BN_CLICKED(IDCANCEL, &COpenCV_Test_01Dlg::OnBnClickedCancel)ON_BN_CLICKED(IDC_BUTTON3, &COpenCV_Test_01Dlg::OnBnClickedButton3)ON_WM_DESTROY()ON_BN_CLICKED(IDC_BUTTON2, &COpenCV_Test_01Dlg::OnBnClickedButton2)
END_MESSAGE_MAP()// COpenCV_Test_01Dlg 消息处理程序BOOL COpenCV_Test_01Dlg::OnInitDialog()
{CDialogEx::OnInitDialog();// 将“关于...”菜单项添加到系统菜单中。// IDM_ABOUTBOX 必须在系统命令范围内。ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);ASSERT(IDM_ABOUTBOX < 0xF000);CMenu* pSysMenu = GetSystemMenu(FALSE);if (pSysMenu != NULL){BOOL bNameValid;CString strAboutMenu;bNameValid = strAboutMenu.LoadString(IDS_ABOUTBOX);ASSERT(bNameValid);if (!strAboutMenu.IsEmpty()){pSysMenu->AppendMenu(MF_SEPARATOR);pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);}}// 设置此对话框的图标。 当应用程序主窗口不是对话框时，框架将自动// 执行此操作SetIcon(m_hIcon, TRUE); // 设置大图标SetIcon(m_hIcon, FALSE); // 设置小图标// TODO: 在此添加额外的初始化代码SaveImg = FALSE;ImgPath = "c:\\img\\";m_bRun = FALSE;return TRUE; // 除非将焦点设置到控件，否则返回 TRUE
}void COpenCV_Test_01Dlg::OnSysCommand(UINT nID, LPARAM lParam)
{if ((nID & 0xFFF0) == IDM_ABOUTBOX){CAboutDlg dlgAbout;dlgAbout.DoModal();}else{CDialogEx::OnSysCommand(nID, lParam);}
}// 如果向对话框添加最小化按钮，则需要下面的代码
// 来绘制该图标。 对于使用文档/视图模型的 MFC 应用程序，
// 这将由框架自动完成。void COpenCV_Test_01Dlg::OnPaint()
{if (IsIconic()){CPaintDC dc(this); // 用于绘制的设备上下文SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);// 使图标在工作区矩形中居中int cxIcon = GetSystemMetrics(SM_CXICON);int cyIcon = GetSystemMetrics(SM_CYICON);CRect rect;GetClientRect(&rect);int x = (rect.Width() - cxIcon + 1) / 2;int y = (rect.Height() - cyIcon + 1) / 2;// 绘制图标dc.DrawIcon(x, y, m_hIcon);}else{CDialogEx::OnPaint();}
}//当用户拖动最小化窗口时系统调用此函数取得光标
//显示。
HCURSOR COpenCV_Test_01Dlg::OnQueryDragIcon()
{return static_cast<HCURSOR>(m_hIcon);
}//打开相机
void COpenCV_Test_01Dlg::OnBnClickedButton1()
{// TODO: 在此添加控件通知处理程序代码flg = TRUE;m_bRun = TRUE; pThread = AfxBeginThread((AFX_THREADPROC)ThreadProc, this);
}void COpenCV_Test_01Dlg::OnTimer(UINT_PTR nIDEvent)
{// TODO: 在此添加消息处理程序代码和/或调用默认值 CDialogEx::OnTimer(nIDEvent);
}void COpenCV_Test_01Dlg::OnBnClickedCancel()
{// TODO: 在此添加控件通知处理程序代码CDialogEx::OnCancel();
}void COpenCV_Test_01Dlg::OnBnClickedButton3()
{// TODO: 在此添加控件通知处理程序代码m_bRun = FALSE;flg = FALSE;
}void COpenCV_Test_01Dlg::OnDestroy()
{CDialogEx::OnDestroy();//capture.release();//destroyAllWindows();// TODO: 在此处添加消息处理程序代码
}void COpenCV_Test_01Dlg::OnBnClickedButton2()
{// TODO: 在此添加控件通知处理程序代码SaveImg = TRUE;
}// CString转std::string
std::string CStringToStdString(const CString& cstr) {return std::string(static_cast<LPCSTR>(CT2A(cstr.GetString())));
}string COpenCV_Test_01Dlg::GetSysTime()
{CTime t = CTime::GetCurrentTime();CString strTime;strTime.Format(_T("%04d%02d%02d%02d%02d%02d"), t.GetYear(), t.GetMonth(), t.GetDay(), t.GetHour(), t.GetMinute(), t.GetSecond());return CStringToStdString(strTime); ;
}
