Question

我希望开发一个程序来获取kinect深度图像并将其转换为3D point cloud作为我的最后一年项目。

我必须编写一个程序将这些深度图像保存到项目的bin目录中。但是我无法将这些图像转换为3d点云。

如果有人知道如何实现这个或任何工作项目，请帮助我。

Answer 1

我建议您查看PCL library。这是一个用于3D点云处理的开放项目，并且有很好的文档记录。有很多教程，但是对于你的任务，你应该看一下：

Kinect OpenNI tutorial（使用PCL和OpenNI库快速访问点云）

Answer 2

有关如何制作点云的信息，请参阅i-programmer。如果你只想制作一个而不理解它（我强烈不建议），这里是代码：
XAML：

<Window x:Class="PointCloudWPF.MainWindow"
    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
    Title="Point Cloud" Height="653" Width="993" Background="Black" Loaded="Window_Loaded">
<Grid Height="1130" Width="1626">
    <Canvas Height="611" HorizontalAlignment="Left" Name="canvas1" VerticalAlignment="Top" Width="967" Background="Black" />
</Grid>

C＃：

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using System.Windows.Media.Media3D;
using Microsoft.Kinect;


namespace PointCloudWPF
{
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
    GeometryModel3D[] points = new GeometryModel3D[320 * 240];
    int s = 4;
    KinectSensor sensor;

    public MainWindow()
    {
        InitializeComponent();
    }



    void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
    {
        DepthImageFrame imageFrame = e.OpenDepthImageFrame();
        if (imageFrame != null)
        {
            short[] pixelData = new short[imageFrame.PixelDataLength];
            imageFrame.CopyPixelDataTo(pixelData);
            int temp = 0;
            int i = 0;

            for (int y = 0; y < 240; y += s)
                for (int x = 0; x < 320; x += s)
                {
                    temp = ((ushort)pixelData[x + y * 320]) >> 3;
                    ((TranslateTransform3D)points[i].Transform).OffsetZ = temp;
                    i++;
                }
        }
    }


    private GeometryModel3D Triangle(double x, double y, double s, SolidColorBrush color)
    {
        Point3DCollection corners = new Point3DCollection();
        corners.Add(new Point3D(x, y, 0));
        corners.Add(new Point3D(x, y + s, 0));
        corners.Add(new Point3D(x + s, y + s, 0));

        Int32Collection Triangles = new Int32Collection();
        Triangles.Add(0);
        Triangles.Add(1);
        Triangles.Add(2);

        MeshGeometry3D tmesh = new MeshGeometry3D();
        tmesh.Positions = corners;
        tmesh.TriangleIndices = Triangles;
        tmesh.Normals.Add(new Vector3D(0, 0, -1));

        GeometryModel3D msheet = new GeometryModel3D();
        msheet.Geometry = tmesh;
        msheet.Material = new DiffuseMaterial(color);
        return msheet;
    }

    private void Window_Loaded(object sender, RoutedEventArgs e)
    {
        DirectionalLight DirLight1 = new DirectionalLight();
        DirLight1.Color = Colors.White;
        DirLight1.Direction = new Vector3D(1, 1, 1);


        PerspectiveCamera Camera1 = new PerspectiveCamera();
        Camera1.FarPlaneDistance = 8000;
        Camera1.NearPlaneDistance = 100;
        Camera1.FieldOfView = 10;
        Camera1.Position = new Point3D(160, 120, -1000);
        Camera1.LookDirection = new Vector3D(0, 0, 1);
        Camera1.UpDirection = new Vector3D(0, -1, 0);

        Model3DGroup modelGroup = new Model3DGroup();

        int i = 0;

        for (int y = 0; y < 240; y += s)
        {
            for (int x = 0; x < 320; x += s)
            {
                points[i] = Triangle(x, y, s, new SolidColorBrush(Colors.White));
                // points[i]=MCube(x,y);
                points[i].Transform = new TranslateTransform3D(0, 0, 0);
                modelGroup.Children.Add(points[i]);
                i++;
            }
        }

        modelGroup.Children.Add(DirLight1);
        ModelVisual3D modelsVisual = new ModelVisual3D();
        modelsVisual.Content = modelGroup;
        Viewport3D myViewport = new Viewport3D();
        myViewport.IsHitTestVisible = false;
        myViewport.Camera = Camera1;
        myViewport.Children.Add(modelsVisual);
        canvas1.Children.Add(myViewport);

        myViewport.Height = canvas1.Height;
        myViewport.Width = canvas1.Width;
        Canvas.SetTop(myViewport, 0);
        Canvas.SetLeft(myViewport, 0);

        sensor = KinectSensor.KinectSensors[0];
        sensor.SkeletonStream.Enable();
        sensor.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
        sensor.DepthFrameReady += DepthFrameReady;
        sensor.Start();

    }
}
}

从深度图像中获取3D点云

2 个答案: