RGB图像读取失败 - Githubissues

ShawnZhou997 commented 1 week ago

您好，我想在Azure Kinect骨骼点识别的基础上利用它的RGB图像做一些工作。所以我在 k4a_device_configuration_t deviceConfig = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL; deviceConfig.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32; deviceConfig.color_resolution = K4A_COLOR_RESOLUTION_720P; deviceConfig.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED; // deviceConfig.color_resolution = K4A_COLOR_RESOLUTION_OFF; 这几行做了配置文件的修改，但是修改配置就会提示 [2024-11-19 17:10:20.452] [error] [t=322023] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (51): k4a_image_t_get_context(). Invalid k4a_image_t (nil) [2024-11-19 17:10:20.452] [error] [t=322023] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/image/image.c (389): Invalid argument to image_get_buffer(). image_handle ((nil)) is not a valid handle of type k4a_image_t [2024-11-19 17:10:20.452] [error] [t=322023] [K4ABT] ../src/TrackerHost/DepthFrameBlobK4A.cpp (13): Initialize(). Get depth buffer from the capture handle failed! [2024-11-19 17:10:20.452] [error] [t=322023] [K4ABT] ../src/TrackerHost/TrackerHost.cpp (274): EnqueueCapture(). Initialize DepthFrameBlob failed! Error! Add capture to tracker process queue failed! 尚不清楚为何修改配置会导致只会处理一帧骨骼点数据的问题，请问作者是否有尝试获取RGB图？

silencht commented 6 days ago

我没有尝试过，不过你可以看看这项配置: synchronized_images_only

deviceConfig.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32; 
deviceConfig.color_resolution = K4A_COLOR_RESOLUTION_720P;  
deviceConfig.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;  

deviceConfig.synchronized_images_only = true;

 /** Only produce k4a_capture_t objects if they contain synchronized color and depth images.
     *
     * \details
     * This setting controls the behavior in which images are dropped when images are produced faster than they can be
     * read, or if there are errors in reading images from the device.
     *
     * \details
     * If set to true, \ref k4a_capture_t objects will only be produced with both color and depth images.
     * If set to false, \ref k4a_capture_t objects may be produced only a single image when the corresponding image is
     * dropped.
     *
     * \details
     * Setting this to false ensures that the caller receives all of the images received from the camera, regardless of
     * whether the corresponding images expected in the capture are available.
     *
     * \details
     * If either the color or depth camera are disabled, this setting has no effect.
     */
    bool synchronized_images_only;

ShawnZhou997 commented 1 day ago

我没有尝试过，不过你可以看看这项配置: synchronized_images_only

deviceConfig.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32; 
deviceConfig.color_resolution = K4A_COLOR_RESOLUTION_720P;  
deviceConfig.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;  

deviceConfig.synchronized_images_only = true;

 /** Only produce k4a_capture_t objects if they contain synchronized color and depth images.
     *
     * \details
     * This setting controls the behavior in which images are dropped when images are produced faster than they can be
     * read, or if there are errors in reading images from the device.
     *
     * \details
     * If set to true, \ref k4a_capture_t objects will only be produced with both color and depth images.
     * If set to false, \ref k4a_capture_t objects may be produced only a single image when the corresponding image is
     * dropped.
     *
     * \details
     * Setting this to false ensures that the caller receives all of the images received from the camera, regardless of
     * whether the corresponding images expected in the capture are available.
     *
     * \details
     * If either the color or depth camera are disabled, this setting has no effect.
     */
    bool synchronized_images_only;

是这样的，谢谢！

unitreerobotics / kinect_teleoperate

RGB图像读取失败 #2