潮州市网站建设,hexo做网站,网站如何做网站征求意见专栏,自己做的网站怎么调用百度地图1. 鼠标左键按下选择起点#xff0c;拖动鼠标#xff0c;左键放开#xff0c;确定终点。 实现效果1实现效果22. 在linux下使用libfreenect2开源多平台驱动来获取kinect2.0的传感器信息#xff0c;得到深度信息#xff0c;并通过libfreenect2提供的getPointXYZ函数#xf… 1. 鼠标左键按下选择起点拖动鼠标左键放开确定终点。 实现效果1 实现效果2 2. 在linux下使用libfreenect2开源多平台驱动来获取kinect2.0的传感器信息得到深度信息并通过libfreenect2提供的getPointXYZ函数来得到相机坐标系中某一点的空间坐标。 3. 运用鼠标操作函数setMouseCallback来获取画面中的两个点并用直线将他们连接起来通过2中的方法得到两点的空间坐标A(x1,y1,z1)B(x2,y2,z2)。通过简单计算便可以求得两点的实际距离。 4. 关键代码 while(!protonect_shutdown){listener.waitForNewFrame(frames);libfreenect2::Frame *rgb frames[libfreenect2::Frame::Color];libfreenect2::Frame *depth frames[libfreenect2::Frame::Depth];cv::Mat(rgb-height, rgb-width, CV_8UC4, rgb-data).copyTo(rgbmat);cv::Mat(depth-height, depth-width, CV_32FC1, depth-data).copyTo(depthmat);cv::Mat(registered.height, registered.width, CV_8UC4, registered.data).copyTo(rgbd);registration-apply(rgb, depth, undistorted, registered, true, depth2rgb);cv::Mat(registered.height, registered.width, CV_8UC4, registered.data).copyTo(rgbd);//resize(rgbmat, dst1, Size(), c, d, INTER_NEAREST);inRange(depthmat,Scalar(a),Scalar(b),dst);//morphologyEx(dst,dst,MORPH_OPEN,kernel);findContours(dst,contours,hireachy,RETR_EXTERNAL,CHAIN_APPROX_SIMPLE,Point(0,0));if (contours.size() 0){double maxArea0;for (int i 0; i contours.size(); i){double area contourArea(contours[static_castint(i)]);if (area maxArea){maxArea area;rect boundingRect(contours[static_castint(i)]);minEnclosingCircle(contours[static_castint(i)], center, radius);}}}setMouseCallback(main,on_MouseHandle); // 鼠标操作registration-getPointXYZ(undistorted, pt11.y, pt11.x,x1, y1, z1); // 像素坐标转化为空间坐标registration-getPointXYZ(undistorted,pt21.y,pt21.x,x2, y2, z2);//rectangle(rgbd, rect, Scalar(0,255,0),2);line(rgbd, pt11, pt21, Scalar(0,255,0)); // 划线l sqrt(pow((x1-x2),2) pow((y1-y2),2) pow((z1-z2),2));cout length: l m endl; // 输出长度sprintf(str, %.4lf, l);putText(rgbd, str1, pt21, FONT_HERSHEY_COMPLEX, 1,Scalar(0, 0, 255), 1);putText(rgbd, str, pt21, FONT_HERSHEY_COMPLEX, 1,Scalar(0, 0, 255), 1);circle(rgbd, pt11, 1, Scalar(255,255,0), 2);circle(rgbd, pt21, 1, Scalar(255,255,0), 2);cv::imshow(catch,dst);cv::imshow(depth, depthmat /4500.0);cv::imshow(main, rgbd);int key cv::waitKey(1);protonect_shutdown protonect_shutdown || (key 0 ((key 0xFF) 27)); // shutdown on escapelistener.release(frames);}dev-stop();dev-close();delete registration;#endifstd::cout stop! std::endl;return 0;
}void on_MouseHandle(int event, int x, int y, int flags, void* ustc)
{if (event EVENT_LBUTTONDOWN){Point pt1 Point(x, y);pt11 pt1;}else if (event EVENT_LBUTTONUP){Point pt2 Point(x, y);pt21 pt2;}
}
