update

Azure_Kinect_Lab/src/main.cpp

@@ -236,7 +236,7 @@ static bool point_cloud_color_to_depth(k4a_transformation_t transformation_handl
     imshow("depth_color", depth_color);
     char buf[256];
     printf("img_id : %06d", id);
-    sprintf(buf, "E:/git_quick/azure_kinect_lab/Azure_Kinect_Lab/datasets/%6d.jpg", id);
+    sprintf(buf, "E:/git_quick/azure_kinect_lab/Azure_Kinect_Lab/datasets/%06d.jpg", id);
     imwrite(buf, depth_color);
 
     //使用迭代器访问元素
@@ -390,12 +390,39 @@ int main()
     }
 
     // 相机内参获取
+    //-----------------------
     float fx_d = calibration.depth_camera_calibration.intrinsics.parameters.param.fx;
     float fy_d = calibration.depth_camera_calibration.intrinsics.parameters.param.fy;
     float cx_d = calibration.depth_camera_calibration.intrinsics.parameters.param.cx;
     float cy_d = calibration.depth_camera_calibration.intrinsics.parameters.param.cy;
-   
+    float k1 = calibration.depth_camera_calibration.intrinsics.parameters.param.k1;
+    float k2 = calibration.depth_camera_calibration.intrinsics.parameters.param.k2;
+    float k3 = calibration.depth_camera_calibration.intrinsics.parameters.param.k3;
+    float p1 = calibration.depth_camera_calibration.intrinsics.parameters.param.p1;
+    float p2 = calibration.depth_camera_calibration.intrinsics.parameters.param.p2;
+    //
+    float fx_c = calibration.color_camera_calibration.intrinsics.parameters.param.fx;
+    float fy_c = calibration.color_camera_calibration.intrinsics.parameters.param.fy;
+    float cx_c = calibration.color_camera_calibration.intrinsics.parameters.param.cx;
+    float cy_c = calibration.color_camera_calibration.intrinsics.parameters.param.cy;
+    float k1c = calibration.color_camera_calibration.intrinsics.parameters.param.k1;
+    float k2c = calibration.color_camera_calibration.intrinsics.parameters.param.k2;
+    float k3c = calibration.color_camera_calibration.intrinsics.parameters.param.k3;
+    float p1c = calibration.color_camera_calibration.intrinsics.parameters.param.p1;
+    float p2c = calibration.color_camera_calibration.intrinsics.parameters.param.p2;
 
+    // ---------------------- 记录标定参数
+    FILE* fpWrite = fopen("E:/git_quick/azure_kinect_lab/Azure_Kinect_Lab/camera_cc.txt", "w+");
+    if (fpWrite == NULL)
+    {
+        return 0;
+    }
+    // 记录 相机标定参数
+    fprintf(fpWrite, "%f,%f,%f,%f,%f,%f,%f,%f,%f\n", fx_d,fy_d,cx_d,cy_d,k1,k2,k3,p1,p2);
+    fprintf(fpWrite, "%f,%f,%f,%f,%f,%f,%f,%f,%f\n", fx_c, fy_c, cx_c, cy_c, k1c, k2c, k3c, p1c, p2c);
+    fclose(fpWrite);
+   
+    // ----------------------
     // Camera capture and application specific code would go here
     while (true) {
         k4a_capture_t capture;
@@ -464,8 +491,8 @@ int main()
 
         char buf[256];
         //printf("img_id : %06d", img_id);
-        sprintf(buf, "E:/git_quick/azure_kinect_lab/Azure_Kinect_Lab/datasets/%6d-depth.jpg", img_id);
-        imwrite(buf, depth_show);
+        sprintf(buf, "E:/git_quick/azure_kinect_lab/Azure_Kinect_Lab/datasets/%06d-depth.png", img_id);
+        imwrite(buf, depth);
 
 
         _resolution_y = k4a_image_get_height_pixels(color_image);