Question

我们目前正在使用Kinect跟踪窗口中的对象，现在我们需要获取3D而不是“2D”坐标。基本上，我们需要LockedRect.pBits在单个点获得的深度值。

我们当前的代码返回任意0等，但这里是：

void getDepthData(GLubyte* dest) {


    NUI_IMAGE_FRAME imageFrame;
    NUI_LOCKED_RECT LockedRect;
    if (sensor->NuiImageStreamGetNextFrame(depthStream, 0, &imageFrame) < 0) return;
    INuiFrameTexture* texture = imageFrame.pFrameTexture;
    texture->LockRect(0, &LockedRect, NULL, 0);
    if (LockedRect.Pitch != 0) {
            const USHORT* curr = (const USHORT*)LockedRect.pBits;
            cout << curr;
            const USHORT* dataEnd = curr + (width*height);

            while (curr < dataEnd) {
                    // Get depth in millimeters
                    USHORT depth = NuiDepthPixelToDepth(*curr++);

                    // Draw a grayscale image of the depth:
                    // B,G,R are all set to depth%256, alpha set to 1.
                    for (int i = 0; i < 3; ++i)
                            *dest++ = (BYTE)depth % 256;
                    *dest++ = 0xff;
            }

    }
    texture->UnlockRect(0);
    sensor->NuiImageStreamReleaseFrame(depthStream, &imageFrame);

}

Answer 1

我们找到了解决方案！对任何想知道同样事情的人; pBits是USHORT格式的最小值，您希望在其后找到第x个像素。在矩阵中描绘它，你想找到深度，例如。在5 * 4矩阵中，pBits向下2行，向下3列，在pBits之后给你pBits + 2 * width + 3 =第13位（在纸上可视化有助于此）。

void getDepthData(RotatedRect trackBox, GLubyte* dest) {

NUI_IMAGE_FRAME imageFrame;
NUI_LOCKED_RECT LockedRect;
if (sensor->NuiImageStreamGetNextFrame(depthStream, 0, &imageFrame) < 0) return;
INuiFrameTexture* texture = imageFrame.pFrameTexture;
texture->LockRect(0, &LockedRect, NULL, 0);
if (LockedRect.Pitch != 0) {
    USHORT* curr = (USHORT*)(LockedRect.pBits);
    curr = curr + (USHORT)trackBox.center.y * width + (USHORT)trackBox.center.x;

        // Get depth in millimeters
        USHORT depth = NuiDepthPixelToDepth(*curr);

        cout << depth << "\n";

}
texture->UnlockRect(0);
sensor->NuiImageStreamReleaseFrame(depthStream, &imageFrame);

除了我们确实为1*width+1差异保留了漂亮的代码，这在40 + cm距离内不是问题。

OpenGL + Kinect SDK - 如何从单个像素获取深度值？

1 个答案: