在 Query Vertices() 中获取空值 - Intel Realsense F200

Question

我想从 QueryVertices() 中查找坐标，但在执行时得到空值。

代码片段-

public class CameraViewer2
{    
    static int cWidth  = 640;    //Color image width
    static int cHeight = 480;    //Color image height
    static int dWidth, dHeight;    //depth image width and height
    static boolean exit = false;//flag

public static void main(String s[])
{ 

    PXCMSenseManager senseMgr = PXCMSenseManager.CreateInstance();     //Create a session manager instance   
    pxcmStatus sts = senseMgr.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, cWidth, cHeight);    //STREAM_TYPE_COLOR The color stream.
    sts = senseMgr.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH,cWidth,cHeight);    //STREAM_TYPE_DEPTH The depth stream.
    sts = senseMgr.Init(); //initialize the Manager

    //getting the profile data 
    PXCMCapture.Device device = senseMgr.QueryCaptureManager().QueryDevice();
    PXCMCapture.Device.StreamProfileSet profiles = new PXCMCapture.Device.StreamProfileSet();
    device.QueryStreamProfileSet(profiles);

    dWidth = profiles.depth.imageInfo.width;
    dHeight = profiles.depth.imageInfo.height;

    Listener listener = new Listener();

    if (sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
    {
        while (listener.exit == false)
        {
            sts = senseMgr.AcquireFrame(true);    //Wait until a new frame is available and lock it for processing.
            if (sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
            { 
                 PXCMCapture.Sample sample = senseMgr.QuerySample();    // retrieve the color and depth samples aligned
                if (sample.color != null)
                {  
                    PXCMImage depth= sample.depth;
                    PXCMImage color= sample.color;
                    PXCMProjection projection=device.CreateProjection();// Create the PXCMProjection instance.             
                    PXCMImage mappedColorImage=projection.CreateColorImageMappedToDepth( depth,  color);

                   PXCMPoint3DF32[] vertices = new PXCMPoint3DF32[cWidth * cHeight];
                   System.out.println(projection.QueryVertices(depth, vertices));   //getting in console- PXCM_STATUS_NO_ERROR

还有其他方法可以获取坐标吗？任何帮助将不胜感激。

提前致谢。

Answer 1

您的顶点数组应该是深度图像的大小，而不是彩色图像的大小，因为您会为深度图像中的每个像素获取一个顶点。所以请改用PXCMPoint3DF32[] vertices = new PXCMPoint3DF32[dWidth * dHeight];。