Question

所以我试图将rgbMap上的像素映射到depthMap上的像素，这样我就可以从颜色跟踪的对象中获取深度。

我注意到深度贴图比rgb贴图小，而且不同的POV位于kinect本身的不同位置。

有没有一种有效的方法可以做到这一点，我不知道？目前，我正在考虑尝试排列示例像素，然后在距离越远时尝试找出偏移的等式。

下面的代码，请注意，颜色跟踪还远未完成，并且我使用鼠标按下来测试像素位置。

    /**
     * ControlP5 Controlframe
     * with controlP5 2.0 all java.awt dependencies have been removed
     * as a consequence the option to display controllers in a separate
     * window had to be removed as well. 
     * this example shows you how to create a java.awt.frame and use controlP5
     *
     * by Andreas Schlegel, 2012
     * www.sojamo.de/libraries/controlp5
     *
     */

    import java.awt.Frame;
    import java.awt.BorderLayout;
    import controlP5.*;
    import SimpleOpenNI.*;

    private ControlP5 cp5;



    ControlFrame cf;
    SimpleOpenNI  context;
    Ktracker p,o,b;
    float rx,ry,dx,dy;
    int def;


    void setup() {
      size((2 * 640),480);
      cp5 = new ControlP5(this);
      o = new Ktracker(188,57,49);
      // by calling function addControlFrame() a
      // new frame is created and an instance of class
      // ControlFrame is instanziated.
      cf = addControlFrame("Output", 640,480);
      // add Controllers to the 'extra' Frame inside 
      // the ControlFrame class setup() method below.
      context = new SimpleOpenNI(this);
      context.enableRGB();
      context.enableDepth();

      smooth();
      rx=context.rgbWidth()/2;
      ry=height/2;
    }

    void draw() {
      context.update(); 
      background(0,150,0);
      image(context.depthImage(),context.rgbWidth(),0);
      image(context.rgbImage(), 0,0); 
      int[] dm = context.depthMap();
      o.run();

      rectMode(CENTER);
      noStroke();
      fill(255,255,0);
      rect(rx,ry,5,5);
      dx=rx;
      dy=ry;
      fill(0,255,255);
      rect(dx+context.rgbWidth(),dy,5,5);
      rectMode(CORNER);

      if(o.wr<10){

        fill(0,0,255);
        noStroke();
        ellipse(o.currentPoints[0]+context.rgbWidth(),o.currentPoints[1],10,10);

        cf.z = dm[int(o.currentPoints[0]*o.currentPoints[1])];
      } else {
        cf.z=0;
      }

    }

    void mousePressed(){
      rx=mouseX;
      ry=mouseY;
    }


    ControlFrame addControlFrame(String theName, int theWidth, int theHeight) {
      Frame f = new Frame(theName);
      ControlFrame p = new ControlFrame(this, theWidth, theHeight);
      f.add(p);
      p.init();
      f.setTitle(theName);
      f.setSize(p.w, p.h);
      f.setLocation(100, 100);
      f.setResizable(false);
      f.setVisible(true);
      return p;
    }

    // the ControlFrame class extends PApplet, so we 
    // are creating a new processing applet inside a
    // new frame with a controlP5 object loaded
    public class ControlFrame extends PApplet {

      int w, h;
      float z;
      int abc = 100;

      public void setup() {
        size(w, h, P3D);
        frameRate(25);
        z=0;
      }

      public void draw() {
          background(abc);
          translate(width/2,height/2,z/100);
          sphere(250);

      }

      private ControlFrame() {
      }

      public ControlFrame(Object theParent, int theWidth, int theHeight) {
        parent = theParent;
        w = theWidth;
        h = theHeight;
      }

      public ControlP5 control() {
        return cp5;
      }


      ControlP5 cp5;

      Object parent;


    }
    class Ktracker{
     float mx,my,wr;
    // A variable for the color we are searching for.
     color trackColor;
     float[] currentPoints, prevPoints;

     Ktracker(int r,int g, int b){
      trackColor = color(r,g,b);

      currentPoints = new float[2];
      prevPoints = new float[2];

      prevPoints[0]=0;
      prevPoints[1]=0;
     }


     void run(){
      loadPixels();

      // Before we begin searching, the "world record" for closest color is set to a high number that is easy for the first pixel to beat.
      float worldRecord = 500; 

      // XY coordinate of closest color
      int closestX = 0;
      int closestY = 0;

      // Begin loop to walk through every pixel
      for (int x = 0; x < width/2; x ++ ) {
        for (int y = 0; y < height; y ++ ) {
          int loc = x + y*width;
          // What is current color
          color currentColor = pixels[loc];
          float r1 = red(currentColor);
          float g1 = green(currentColor);
          float b1 = blue(currentColor);
          float r2 = red(trackColor);
          float g2 = green(trackColor);
          float b2 = blue(trackColor);

          // Using euclidean distance to compare colors
          float d = dist(r1,g1,b1,r2,g2,b2); // We are using the dist( ) function to compare the current color with the color we are tracking.

          // If current color is more similar to tracked color than
          // closest color, save current location and current difference
          if (d < worldRecord) {
            worldRecord = d;
            closestX = x;
            closestY = y;
            currentPoints[0] = closestX;
            currentPoints[1] = closestY;
          }
        }
      }
      wr=worldRecord;
      // We only consider the color found if its color distance is less than 10. 
      // This threshold of 10 is arbitrary and you can adjust this number depending on how accurate you require the tracking to be.
      if (worldRecord < 10) { 

        // Draw a circle at the tracked pixel
        fill(255,0,0);
        //strokeWeight(4.0);
        stroke(0,0);
        ellipse(currentPoints[0],currentPoints[1],16,16);

      }
      println("wr: "+wr);
      println("worldRecord: "+worldRecord);
     }


    }

Answer 1

如果你想将深度图与RGB地图对齐，你需要告诉OpenNI在设置中这样做：

context.alternativeViewPointDepthToImage();

在示例＆gt;中查看 AlternativeViewpoint3d 草图。 SimpleOpenNI＆gt; OpenNI

OpenNI已完成注册，因此您需要做的就是在需要时启用它。

将rgbMap映射到depthMap

1 个答案: