Usando o Pylibfreenect2 no Ubuntu 19.04

Odacchi
(usa Ubuntu)

Enviado em 16/12/2019 - 09:46h

Bom dia,

estou tentando usar o Pylibfreenect2 para a captura de imagens de dois kinects simultaneamente. Consigo com um kinect, porém, quando rodo um código para capturar os dois, não consigo.
Abaixo está o código que estou tentando usar.

# coding: utf-8



import numpy as np

import cv2

import sys

from pylibfreenect2 import Freenect2, SyncMultiFrameListener

from pylibfreenect2 import FrameType, Registration, Frame

from pylibfreenect2 import createConsoleLogger, setGlobalLogger

from pylibfreenect2 import LoggerLevel

import time



try:

    from pylibfreenect2 import OpenGLPacketPipeline

    pipeline = OpenGLPacketPipeline()

except:

    try:

        from pylibfreenect2 import OpenCLPacketPipeline

        pipeline = OpenCLPacketPipeline()

    except:

        from pylibfreenect2 import CpuPacketPipeline

        pipeline = CpuPacketPipeline()

print("Packet pipeline:", type(pipeline).__name__)





inicio = time.time()

# Create and set logger

logger = createConsoleLogger(LoggerLevel.Debug)

setGlobalLogger(logger)



fn = Freenect2()

num_devices = fn.enumerateDevices()

if num_devices == 0:

    print("No device connected!")

    sys.exit(1)



serial = fn.getDeviceSerialNumber(1)

device = fn.openDevice(serial, pipeline=pipeline)

serial2 = fn.getDeviceSerialNumber(0)

device2 = fn.openDevice(serial2, pipeline=pipeline)



listener = SyncMultiFrameListener(

    FrameType.Color | FrameType.Ir | FrameType.Depth)

listener2 = SyncMultiFrameListener(

    FrameType.Color | FrameType.Ir | FrameType.Depth)



# Register listeners

device.setColorFrameListener(listener)

device.setIrAndDepthFrameListener(listener)

device2.setColorFrameListener(listener2)

device2.setIrAndDepthFrameListener(listener2)



device.start()

device2.start()



# NOTE: must be called after device.start()

registration = Registration(device.getIrCameraParams(),

                            device.getColorCameraParams())

registration2 = Registration(device2.getIrCameraParams(),

                             device2.getColorCameraParams())



undistorted = Frame(512, 424, 4)

registered = Frame(512, 424, 4)



# Optinal parameters for registration

# set True if you need

need_bigdepth = False

need_color_depth_map = False



bigdepth = Frame(1920, 1082, 4) if need_bigdepth else None

color_depth_map = np.zeros((424, 512),  np.int32).ravel() \

    if need_color_depth_map else None



aux = 0



while True:

    frames = listener.waitForNewFrame()

    color = frames["color"]

    ir = frames["ir"]

    depth = frames["depth"]

    frames2 = listener2.waitForNewFrame()

    color2 = frames2["color"]

    ir2 = frames2["ir"]

    depth2 = frames2["depth"]

    

    registration.apply(color, depth, undistorted, registered,

                       bigdepth=bigdepth,

                       color_depth_map=color_depth_map)

    registration2.apply(color2, depth2, undistorted, registered,

                        bigdepth=bigdepth,

                        color_depth_map=color_depth_map)



    # NOTE for visualization:

    # cv2.imshow without OpenGL backend seems to be quite slow to draw all

    # things below. Try commenting out some imshow if you don't have a fast

    # visualization backend.

    #cv2.imshow("ir", ir.asarray() / 65535.)

    #cv2.imwrite("/home/thales/testes/teste" + str(aux) + ".jpg", ir.asarray() / 65535.)

    #cv2.imshow("depth", depth.asarray() / 4500.)

    #cv2.imwrite("/home/thales/testes/teste" + str(aux) + ".jpg", depth.asarray() / 2000.)

    #cv2.imshow("color1", cv2.resize(color.asarray(), (int(1920 / 3), int(1080 / 3))))

    #cv2.imshow("color2", cv2.resize(color2.asarray(), (int(1920 / 3), int(1080 / 3))))

    cv2.imwrite("/home/thales/testes/teste" + str(aux) + ".jpg", color.asarray())

    cv2.imwrite("/home/thales/testes2/teste" + str(aux) + ".jpg", color2.asarray())

    #cv2.imshow("registered", registered.asarray(np.uint8))



    #if need_bigdepth:

    #    cv2.imshow("bigdepth", cv2.resize(bigdepth.asarray(np.float32),

    #                                      (int(1920 / 3), int(1082 / 3))))

    #if need_color_depth_map:

    #    cv2.imshow("color_depth_map", color_depth_map.reshape(424, 512))

    aux += 1

    listener.release(frames)

    listener2.release(frames2)

    key = cv2.waitKey(delay=1)

    if key == ord('q'):

        fim = time.time()

        print(fim - inicio)

        break



device.stop()

device.close()



sys.exit(0) 

E o erro que ocorre é o seguinte: [Debug] [DepthPacketStreamParser] subpacket too large
Fiz umas pesquisas e vi que não consideram isso como um erro, já que é normal a perda de alguns pacotes, o problema é que no meu caso, ocorre a perda de todos os pacotes e nenhum arquivo é salvo.
Agradeço antecipadamente qualquer ajuda.