Question

我不是一个大的c ++程序员，但我想编译下面的代码。 g ++给出了以下错误。

opencv.cpp: In function ‘int main(int, char**)’:
opencv.cpp:111: error: missing template arguments before ‘freenect’
opencv.cpp:111: error: expected ‘;’ before ‘freenect’
opencv.cpp:112: error: ‘freenect’ was not declared in this scope
opencv.cpp:112: error: expected primary-expression before ‘>’ token



    #include "libfreenect.hpp"
    #include <iostream>
    #include <vector>
    #include <cmath>
    #include <pthread.h>
    #include <cv.h>
    #include <cxcore.h>
    #include <highgui.h>

    using namespace cv;
    using namespace std;

    class Mutex {
    public:
        Mutex() {
            pthread_mutex_init( &m_mutex, NULL );
        }
        void lock() {
            pthread_mutex_lock( &m_mutex );
        }
        void unlock() {
            pthread_mutex_unlock( &m_mutex );
        }
    private:
        pthread_mutex_t m_mutex;
    };

    class MyFreenectDevice : public Freenect::FreenectDevice {
      public:
        MyFreenectDevice(freenect_context *_ctx, int _index)
            : Freenect::FreenectDevice(_ctx, _index),                 m_buffer_depth(FREENECT_DEPTH_11BIT_SIZE),m_buffer_rgb(FREENECT_VIDEO_RGB_SIZE),         m_gamma(2048), m_new_rgb_frame(false), m_new_depth_frame(false),
              depthMat(Size(640,480),CV_16UC1),         rgbMat(Size(640,480),CV_8UC3,Scalar(0)), ownMat(Size(640,480),CV_8UC3,Scalar(0))
        {
            for( unsigned int i = 0 ; i < 2048 ; i++) {
                float v = i/2048.0;
                v = std::pow(v, 3)* 6;
                m_gamma[i] = v*6*256;
            }
        }
        // Do not call directly even in child
        void VideoCallback(void* _rgb, uint32_t timestamp) {
            std::cout << "RGB callback" << std::endl;
            m_rgb_mutex.lock();
            uint8_t* rgb = static_cast<uint8_t*>(_rgb);
            rgbMat.data = rgb;
            m_new_rgb_frame = true;
            m_rgb_mutex.unlock();
        };
        // Do not call directly even in child
        void DepthCallback(void* _depth, uint32_t timestamp) {
            std::cout << "Depth callback" << std::endl;
            m_depth_mutex.lock();
            uint16_t* depth = static_cast<uint16_t*>(_depth);
            depthMat.data = (uchar*) depth;
            m_new_depth_frame = true;
            m_depth_mutex.unlock();
        }

        bool getVideo(Mat& output) {
    m_rgb_mutex.lock();
            if(m_new_rgb_frame) {
                cv::cvtColor(rgbMat, output, CV_RGB2BGR);
                m_new_rgb_frame = false;
                m_rgb_mutex.unlock();
                return true;
            } else {
                m_rgb_mutex.unlock();
                return false;
            }
        }

        bool getDepth(Mat& output) {
                m_depth_mutex.lock();
                if(m_new_depth_frame) {
                    depthMat.copyTo(output);
                    m_new_depth_frame = false;
                    m_depth_mutex.unlock();
                    return true;
                } else {
                    m_depth_mutex.unlock();
                    return false;
                }
            }

      private:
        std::vector<uint8_t> m_buffer_depth;
        std::vector<uint8_t> m_buffer_rgb;
        std::vector<uint16_t> m_gamma;
        Mat depthMat;
        Mat rgbMat;
        Mat ownMat;
        Mutex m_rgb_mutex;
        Mutex m_depth_mutex;
        bool m_new_rgb_frame;
        bool m_new_depth_frame;
    };



    int main(int argc, char **argv) {
        bool die(false);
        string filename("snapshot");
        string suffix(".png");
        int i_snap(0),iter(0);

        Mat depthMat(Size(640,480),CV_16UC1);
        Mat depthf  (Size(640,480),CV_8UC1);
        Mat rgbMat(Size(640,480),CV_8UC3,Scalar(0));
        Mat ownMat(Size(640,480),CV_8UC3,Scalar(0));

    Freenect::Freenect freenect;
    MyFreenectDevice& device = freenect.createDevice<MyFreenectDevice>(0);

namedWindow("rgb",CV_WINDOW_AUTOSIZE);
namedWindow("depth",CV_WINDOW_AUTOSIZE);
device.startVideo();
device.startDepth();
while (!die) {
    device.getVideo(rgbMat);
    device.getDepth(depthMat);
    cv::imshow("rgb", rgbMat);
    depthMat.convertTo(depthf, CV_8UC1, 255.0/2048.0);
    cv::imshow("depth",depthf);
    char k = cvWaitKey(5);
    if( k == 27 ){
        cvDestroyWindow("rgb");
        cvDestroyWindow("depth");
        break;
    }
    if( k == 8 ) {
        std::ostringstream file;
        file << filename << i_snap << suffix;
        cv::imwrite(file.str(),rgbMat);
        i_snap++;
    }
    if(iter >= 1000) break;
    iter++;
}

device.stopVideo();
device.stopDepth();
return 0;
    }

Answer 1

请阅读有关如何创建最小工作示例的信息。提供的代码太大而且不是最小的。

您的代码在Freenect::Freenect freenect;

行上失败了

由于你没有提供libfreenect.hpp的内容，所以要确切地说出错是什么有点困难。错误消息给出了一些线索。 Freenect :: Freenect是一个模板，你没有这样调用它。

cpp代码中的错误

1 个答案: