libfreenect保存照片

错误：“filesystem“ 不是 “std“ 的成员_std没有成员filesystem-优快云博客 

 

实现在C:\A0fangfang\shiyan\9.2 路径下，分别创建"rgb1"、"rgb2"、"ir1"、"ir2"、"depth1"、"depth2"6个文件夹、用于保存相机获取的"rgb1"、"rgb2"、"ir1"、"ir2"、"depth1"、"depth2"图片，程序开始运行时，每5秒保存一次，保存50次后停止代码运行。请完整输出修改后的代码。 

#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#include <opencv2/opencv.hpp>
#include <filesystem>

# include <libfreenect2/libfreenect2.hpp>
# include <libfreenect2/frame_listener_impl.h>
# include <libfreenect2/registration.h>
# include <libfreenect2/packet_pipeline.h>
# include <libfreenect2/logger.h>

namespace fs = std::filesystem;

using namespace std;
using namespace cv;
using namespace libfreenect2;

enum
{
    Processor_cl,
    Processor_gl,
    Processor_cpu
};

bool protonect_shutdown = false; // Whether the running application should shut down.
int save_count = 0; // 计数器，记录保存次数
const int save_limit = 50; // 保存次数上限
const int save_interval = 5000; // 保存间隔，单位毫秒

void sigint_handler(int s)
{
    protonect_shutdown = true;
}

int main()
{
    // Define variables
    std::cout << "Hello World!" << std::endl;
    Freenect2 freenect2;
    vector<Freenect2Device*> devices;
    vector<PacketPipeline*> pipelines;
    vector<SyncMultiFrameListener*> listeners;
    vector<FrameMap> frames;

    // Search and initialize sensors
    int numDevices = freenect2.enumerateDevices();
    if (numDevices < 2)
    {
        cerr << "Error: Not enough Kinect devices connected!" << endl;
        return -1;
    }

    // Configure transfer format
    int depthProcessor = Processor_cl;
    for (int i = 0; i < 2; ++i)
    {
        string serial = freenect2.getDeviceSerialNumber(i);
        cout << "SERIAL " << i + 1 << ": " << serial << endl;

        PacketPipeline* pipeline = nullptr;
        if (depthProcessor == Processor_cpu)
        {
            pipeline = new CpuPacketPipeline();
        }
        else if (depthProcessor == Processor_gl) // if support gl
        {
# ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
            pipeline = new OpenGLPacketPipeline();
# else
            cout << "OpenGL pipeline is not supported!" << endl;
# endif
        }
        else if (depthProcessor == Processor_cl) // if support cl
        {
# ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
            pipeline = new OpenCLPacketPipeline();
# else
            cout << "OpenCL pipeline is not supported!" << endl;
# endif
        }

        if (pipeline)
        {
            Freenect2Device* dev = freenect2.openDevice(serial, pipeline);
            if (dev == nullptr)
            {
                cerr << "Failure opening device " << i + 1 << "!" << endl;
                return -1;
            }
            devices.push_back(dev);
            pipelines.push_back(pipeline);

            SyncMultiFrameListener* listener = new SyncMultiFrameListener(
                Frame::Color |
                Frame::Depth |
                Frame::Ir);
            listeners.push_back(listener);
            frames.push_back(FrameMap());

            dev->setColorFrameListener(listener);
            dev->setIrAndDepthFrameListener(listener);
            dev->start();
        }
    }

    signal(SIGINT, sigint_handler);
    protonect_shutdown = false;

    // Create windows
    namedWindow("rgb1", WND_PROP_ASPECT_RATIO);
    namedWindow("rgb2", WND_PROP_ASPECT_RATIO);
    namedWindow("ir1", WND_PROP_ASPECT_RATIO);
    namedWindow("ir2", WND_PROP_ASPECT_RATIO);
    namedWindow("depth1", WND_PROP_ASPECT_RATIO);
    namedWindow("depth2", WND_PROP_ASPECT_RATIO);

    // Create directories for saving images
    string base_path = "C:\\A0fangfang\\shiyan\\9.2\\";
    vector<string> folder_names = {"rgb1", "rgb2", "ir1", "ir2", "depth1", "depth2"};
    for (const auto& folder_name : folder_names)
    {
        fs::create_directory(base_path + folder_name);
    }

    // Loop to receive frames
    while (!protonect_shutdown && save_count < save_limit)
    {
        for (size_t i = 0; i < devices.size(); ++i)
        {
            listeners[i]->waitForNewFrame(frames[i]);
            Frame* rgb = frames[i][Frame::Color];
            Frame* ir = frames[i][Frame::Ir];
            Frame* depth = frames[i][Frame::Depth];

            Mat rgbmat(rgb->height, rgb->width, CV_8UC4, rgb->data);
            Mat irmat(ir->height, ir->width, CV_32FC1, ir->data);
            Mat depthmat(depth->height, depth->width, CV_32FC1, depth->data);

            imshow("rgb" + to_string(i + 1), rgbmat);
            imshow("ir" + to_string(i + 1), irmat / 4500.0f);
            imshow("depth" + to_string(i + 1), depthmat / 4500.0f);

            // Save images every 5 seconds
            static clock_t last_save_time = 0;
            if ((clock() - last_save_time) / CLOCKS_PER_SEC >= save_interval / 1000)
            {
                last_save_time = clock();

                string timestamp = to_string(time(nullptr));
                imwrite(base_path + "rgb" + to_string(i + 1) + "\\" + timestamp + ".png", rgbmat);
                imwrite(base_path + "ir" + to_string(i + 1) + "\\" + timestamp + ".png", irmat);
                imwrite(base_path + "depth" + to_string(i + 1) + "\\" + timestamp + ".png", depthmat);

                save_count++; // Increment save count
                if (save_count >= save_limit)
                {
                    protonect_shutdown = true; // Stop the loop after reaching the save limit
                }
            }

            listeners[i]->release(frames[i]);
        }

        int key = waitKey(1);
        protonect_shutdown = protonect_shutdown || (key > 0 && ((key & 0xFF) == 27)); // shutdown on escape
    }

    // Close devices
    for (auto dev : devices)
    {
        dev->stop();
        dev->close();
    }

    // Clean up resources
    for (auto pipeline : pipelines)
    {
        delete pipeline;
    }
    for (auto listener : listeners)
    {
        delete listener;
    }

    std::cout << "Goodbye World!" << std::endl;
    return 0;
}

vs2015版本里 没有namespace fs = std::filesystem;