如何使用OpenCV初始化多个OpenNI传感器

Question

我想在OpenCV（2.4.4）中使用两个华硕Xtion Pro传感器，但不知道如何初始化这两个设备。

我可以这样初始化一个：

VideoCapture capture;
capture.open(CV_CAP_OPENNI);

如何初始化两个独立传感器的两个VideoCapture实例？

Answer 1

原来就这么简单：

VideoCapture sensor1;sensor1.open(CV_CAP_OPENNI_ASUS);
VideoCapture sensor2;sensor2.open(CV_CAP_OPENNI_ASUS+1);

一个非常基本的可运行示例是：

#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
using namespace cv;
using namespace std;
int main(){
cout << "opening device(s)" << endl;
VideoCapture sensor1;sensor1.open(CV_CAP_OPENNI_ASUS);
VideoCapture sensor2;sensor2.open(CV_CAP_OPENNI_ASUS+1);
if( !sensor1.isOpened() ){
    cout << "Can not open capture object 1." << endl;
    return -1;
}
for(;;){
    Mat depth1,depth2;
    if( !sensor1.grab() ){
        cout << "Sensor1 can not grab images." << endl;
        return -1;
    }else if( sensor1.retrieve( depth1, CV_CAP_OPENNI_DEPTH_MAP ) ) imshow("depth1",depth1);
    if( !sensor2.grab() ){
        cout << "Sensor2 can not grab images." << endl;
        return -1;
    }else if( sensor2.retrieve( depth2, CV_CAP_OPENNI_DEPTH_MAP ) ) imshow("depth2",depth2);
    if( waitKey( 30 ) == 27 )   break;

   }
}