273 lines
9.8 KiB
Python
273 lines
9.8 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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Azure Kinect SDK 1.4.0 图像获取示例
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这个示例展示了如何使用pyKinectAzure库来获取Azure Kinect DK传感器的各种图像数据：
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- 彩色图像 (Color Image)
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- 深度图像 (Depth Image)
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- 红外图像 (Infrared Image)
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- 彩色深度图像 (Colored Depth Image)
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要求:
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- Azure Kinect SDK 1.4.0
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- pykinect_azure库
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- OpenCV (cv2)
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- numpy
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使用方法:
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1. 确保Azure Kinect DK设备已连接
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2. 运行脚本: python azure_kinect_image_example.py
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3. 按 'q' 键退出程序
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4. 按 '1' 键切换到彩色图像模式
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5. 按 '2' 键切换到深度图像模式
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6. 按 '3' 键切换到红外图像模式
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7. 按 '4' 键切换到彩色深度图像模式
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8. 按 's' 键保存当前图像
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"""
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import cv2
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import numpy as np
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import os
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from datetime import datetime
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try:
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import pykinect_azure as pykinect
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except ImportError:
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print("错误: 无法导入pykinect_azure库")
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print("请使用以下命令安装: pip install pykinect_azure")
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exit(1)
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class AzureKinectImageCapture:
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"""Azure Kinect图像捕获类"""
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def __init__(self):
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self.device = None
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self.current_mode = 1 # 1:彩色, 2:深度, 3:红外, 4:彩色深度
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self.save_counter = 0
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# 创建保存图像的目录
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self.save_dir = "captured_images"
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if not os.path.exists(self.save_dir):
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os.makedirs(self.save_dir)
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def initialize_device(self):
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"""初始化Azure Kinect设备"""
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try:
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# 初始化库，解决"Compatible Azure Kinect SDK not found"兼容性问题
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#
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# 方法1: 自动检测（可能遇到版本兼容性问题）
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# pykinect.initialize_libraries()
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#
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# 方法2: 手动指定路径（推荐，解决版本兼容性问题）
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# 可选的SDK路径（按优先级排序）：
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import platform
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import os
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sdk_paths = []
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if platform.system() == "Windows":
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# Orbbec SDK K4A Wrapper（推荐）
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sdk_paths.append(r"D:\OrbbecSDK_K4A_Wrapper_v1.10.3_windows_202408091749\bin\k4a.dll")
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else:
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# Linux路径
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sdk_paths.extend([
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"/usr/lib/x86_64-linux-gnu/libk4a.so",
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"/usr/local/lib/libk4a.so"
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])
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# 尝试使用可用的SDK路径
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sdk_initialized = False
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for sdk_path in sdk_paths:
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if os.path.exists(sdk_path):
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try:
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print(f"尝试使用SDK路径: {sdk_path}")
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pykinect.initialize_libraries(module_k4a_path=sdk_path)
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print(f"✓ 成功使用SDK: {sdk_path}")
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sdk_initialized = True
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break
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except Exception as e:
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print(f"✗ SDK路径失败: {sdk_path} - {e}")
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continue
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# 如果所有手动路径都失败，尝试自动检测
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if not sdk_initialized:
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try:
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print("尝试自动检测SDK...")
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pykinect.initialize_libraries()
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print("✓ 自动检测SDK成功")
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sdk_initialized = True
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except Exception as e:
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print(f"✗ 自动检测失败: {e}")
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if not sdk_initialized:
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raise Exception("无法初始化Azure Kinect SDK。请检查SDK安装或手动指定正确的路径。")
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# 配置设备参数
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device_config = pykinect.default_configuration
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device_config.color_resolution = pykinect.K4A_COLOR_RESOLUTION_1080P # 1080p彩色分辨率
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device_config.depth_mode = pykinect.K4A_DEPTH_MODE_WFOV_2X2BINNED # 宽视场深度模式
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device_config.camera_fps = pykinect.K4A_FRAMES_PER_SECOND_30 # 30 FPS
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device_config.synchronized_images_only = True # 同步图像
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print("设备配置:")
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print(device_config)
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# 启动设备
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self.device = pykinect.start_device(config=device_config)
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print("Azure Kinect设备初始化成功!")
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return True
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except Exception as e:
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print(f"设备初始化失败: {e}")
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print("请确保:")
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print("1. Azure Kinect DK设备已正确连接")
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print("2. Azure Kinect SDK 1.4.0已正确安装")
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print("3. 设备驱动程序已安装")
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return False
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def get_color_image(self):
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"""获取彩色图像"""
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capture = self.device.update()
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ret, color_image = capture.get_color_image()
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return ret, color_image
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def get_depth_image(self):
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"""获取原始深度图像"""
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capture = self.device.update()
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ret, depth_image = capture.get_depth_image()
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return ret, depth_image
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def get_colored_depth_image(self):
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"""获取彩色深度图像"""
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capture = self.device.update()
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ret, colored_depth_image = capture.get_colored_depth_image()
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return ret, colored_depth_image
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def get_infrared_image(self):
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"""获取红外图像"""
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capture = self.device.update()
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ret, ir_image = capture.get_ir_image()
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return ret, ir_image
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def save_image(self, image, mode_name):
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"""保存图像到文件"""
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timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
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filename = f"{mode_name}_{timestamp}_{self.save_counter:03d}.png"
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filepath = os.path.join(self.save_dir, filename)
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cv2.imwrite(filepath, image)
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print(f"图像已保存: {filepath}")
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self.save_counter += 1
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def display_instructions(self):
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"""显示操作说明"""
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instructions = [
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"=== Azure Kinect 图像捕获示例 ===",
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"操作说明:",
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"1 - 切换到彩色图像模式",
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"2 - 切换到深度图像模式",
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"3 - 切换到红外图像模式",
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"4 - 切换到彩色深度图像模式",
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"s - 保存当前图像",
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"q - 退出程序",
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"================================="
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]
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for instruction in instructions:
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print(instruction)
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def run(self):
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"""运行主循环"""
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if not self.initialize_device():
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return
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self.display_instructions()
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# 创建窗口
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cv2.namedWindow('Azure Kinect Image', cv2.WINDOW_NORMAL)
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cv2.resizeWindow('Azure Kinect Image', 1280, 720)
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mode_names = {
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1: "Color Image",
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2: "Depth Image",
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3: "Infrared Image",
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4: "Colored Depth Image"
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}
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print(f"\n当前模式: {mode_names[self.current_mode]}")
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while True:
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try:
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# 根据当前模式获取相应图像
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if self.current_mode == 1:
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ret, image = self.get_color_image()
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elif self.current_mode == 2:
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ret, image = self.get_depth_image()
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if ret:
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# 将深度图像转换为可视化格式
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image = cv2.convertScaleAbs(image, alpha=0.05)
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elif self.current_mode == 3:
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ret, image = self.get_infrared_image()
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if ret:
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# 将红外图像转换为可视化格式
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image = cv2.convertScaleAbs(image, alpha=0.5)
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elif self.current_mode == 4:
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ret, image = self.get_colored_depth_image()
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if not ret:
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continue
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# 在图像上添加模式信息
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mode_text = f"Mode: {mode_names[self.current_mode]}"
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cv2.putText(image, mode_text, (10, 30), cv2.FONT_HERSHEY_SIMPLEX,
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1, (0, 255, 0), 2, cv2.LINE_AA)
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# 显示图像
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cv2.imshow('Azure Kinect Image', image)
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# 处理按键
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key = cv2.waitKey(1) & 0xFF
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if key == ord('q'):
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print("退出程序...")
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break
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elif key == ord('1'):
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self.current_mode = 1
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print(f"切换到: {mode_names[self.current_mode]}")
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elif key == ord('2'):
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self.current_mode = 2
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print(f"切换到: {mode_names[self.current_mode]}")
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elif key == ord('3'):
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self.current_mode = 3
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print(f"切换到: {mode_names[self.current_mode]}")
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elif key == ord('4'):
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self.current_mode = 4
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print(f"切换到: {mode_names[self.current_mode]}")
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elif key == ord('s'):
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self.save_image(image, mode_names[self.current_mode].replace(" ", "_"))
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except KeyboardInterrupt:
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print("\n程序被用户中断")
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break
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except Exception as e:
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print(f"运行时错误: {e}")
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break
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# 清理资源
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cv2.destroyAllWindows()
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print("程序结束")
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def main():
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"""主函数"""
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print("Azure Kinect SDK 1.4.0 图像获取示例")
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print("作者: AI Assistant")
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print("版本: 1.0\n")
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# 创建并运行图像捕获实例
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capture = AzureKinectImageCapture()
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capture.run()
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if __name__ == "__main__":
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main() |