Question

我正在尝试使用kinect API，我正在尝试（并且失败）实现的目标如下：

开始我从kinect获取骨架数据并计算用户右手与kinect的距离

mRightHandPosition = skeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_HAND_RIGHT];    
distance = sqrt(pow(mRightHandPosition.x, 2) + pow(mRightHandPosition.y, 2) + pow(mRightHandPosition.z, 2));

我将右手的骨架数据转换为深度数据，以便在（深度/颜色）图像中获得手的位置。

FLOAT curRightX = 0, curRightY = 0;
Vector4 pixelInSkeletonSpace;
NuiTransformSkeletonToDepthImage(mRightHandPosition, &curRightX, &curRightY, cDepthResolution);

已经获得手的像素位置，我想将该像素变换回骨架数据并再次计算该像素（手）中的对象距kinect的距离。我认为这样做应该给我大约与以前相同的距离（当然有一些小错误），但事实并非如此。这是我做的：

//the position of the depth pixel in the mLockedRect.pBits array 
//i have set the depth sensor resolution to 320x240
int pixelPosition = 2 * ((int)curRightX + (int)curRightY * 320);
USHORT p;
//convert the two consecutive bytes to USHORT
p = (((unsigned short)mLockedRect.pBits[pixelPosition]) << 8) | mLockedRect.pBits[pixelPosition + 1];
//get the pixel in skeleton space
pixelInSkeletonSpace = NuiTransformDepthImageToSkeleton(LONG(curRightX), LONG(curRightY), p, cDepthResolution);
//calculate again the distance (which turns out completely wrong)
distance = sqrt(pow(pixelInSkeletonSpace.x, 2) + pow(pixelInSkeletonSpace.y, 2) + pow(pixelInSkeletonSpace.z, 2));

我错过了一些明显的东西吗？提前谢谢

Answer 1

经过大量搜索，我发现了什么是错的..这是其他任何试图做类似事情的人的解决方案

首先为了保存深度数据，最好的方法（我找到））是以下

在processDepth（）函数中：

bghr = m_pBackgroundRemovalStream->ProcessDepth(m_depthWidth * m_depthHeight * cBytesPerPixel, LockedRect.pBits, depthTimeStamp);
const NUI_DEPTH_IMAGE_PIXEL* pDepth = reinterpret_cast<const NUI_DEPTH_IMAGE_PIXEL*>(LockedRect.pBits);
memcpy(mLockedBits, pDepth, m_depthWidth * m_depthHeight * sizeof(NUI_DEPTH_IMAGE_PIXEL));

在ComposeImage（）函数（或任何想要使用深度数据的函数）中：

//transform skeleton data point to depth data
NuiTransformSkeletonToDepthImage(mRightHandPosition, &curRightX, &curRightY, cDepthResolution);

//calculate position of pixel in array
int pixelPosition = (int)curRightX + ((int)curRightY * m_depthWidth);

//get the depth value of the pixel
const USHORT depth = mLockedBits[pixelPosition].depth;

//create a new point in skeleton space using the data we got from the previous transformation
pixelInSkeletonSpace = NuiTransformDepthImageToSkeleton(LONG(curRightX), LONG(curRightY), depth << 3, cDepthResolution);

//calculate estimated distance of right hand from the kinect sensor using our recreated data
FLOAT estimated_distance = sqrt(pow(pixelInSkeletonSpace.x, 2) + pow(pixelInSkeletonSpace.y, 2) + pow(pixelInSkeletonSpace.z, 2));

//calculate the distance of the right hand from the kinect sensor using the skeleton data that we got straight from the sensor
FLOAT actual_distance = sqrt(pow(mRightHandPosition.x, 2) + pow(mRightHandPosition.y, 2) + pow(mRightHandPosition.z, 2));

现在estimated_distance和actual_distance应该具有大致相同的值，并且有一些小的方差。

Kinect从Skeleton数据转换为Depth数据并返回

1 个答案: