Question

我正在开展一个关于使用kinect进行生物识别测量的项目。我有一个Xbox的Kinect v1。我可以通过这个kinect获得彩色图像和深度图像。我想映射彩色图像点的深度值。 Kinect sdk不支持CoordinateMapper.MapColorPoint2DepthPoint或空格。所有坐标转换方法都在这里。All Mapping Functions List

如何使用kinect v1为xbox将色点映射到深度点。谢谢你的回答。

注意：语言：C＃，平台：Windows表单

Answer 1

您需要的是CoordinateMapper.MapDepthFrameToColorFrame method。

Coordinate Mapping Basics-WPF C# Sample显示了如何使用此方法。您可以在下面找到代码的一些重要部分：

// Intermediate storage for the depth data received from the sensor
private DepthImagePixel[] depthPixels;
// Intermediate storage for the color data received from the camera
private byte[] colorPixels;
// Intermediate storage for the depth to color mapping
private ColorImagePoint[] colorCoordinates;
// Inverse scaling factor between color and depth
private int colorToDepthDivisor;
// Format we will use for the depth stream
private const DepthImageFormat DepthFormat = DepthImageFormat.Resolution320x240Fps30;
// Format we will use for the color stream
private const ColorImageFormat ColorFormat = ColorImageFormat.RgbResolution640x480Fps30;

//...

// Initialization
this.colorCoordinates = new ColorImagePoint[this.sensor.DepthStream.FramePixelDataLength];
this.depthWidth = this.sensor.DepthStream.FrameWidth;
this.depthHeight = this.sensor.DepthStream.FrameHeight;
int colorWidth = this.sensor.ColorStream.FrameWidth;
int colorHeight = this.sensor.ColorStream.FrameHeight;
this.colorToDepthDivisor = colorWidth / this.depthWidth;
this.sensor.AllFramesReady += this.SensorAllFramesReady;

//...

private void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
    // in the middle of shutting down, so nothing to do
    if (null == this.sensor)
    {
        return;
    }

    bool depthReceived = false;
    bool colorReceived = false;

    using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
    {
        if (null != depthFrame)
        {
            // Copy the pixel data from the image to a temporary array
            depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);

            depthReceived = true;
        }
    }

    using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
    {
        if (null != colorFrame)
        {
            // Copy the pixel data from the image to a temporary array
            colorFrame.CopyPixelDataTo(this.colorPixels);

            colorReceived = true;
        }
    }

    if (true == depthReceived)
    {
        this.sensor.CoordinateMapper.MapDepthFrameToColorFrame(
            DepthFormat,
            this.depthPixels,
            ColorFormat,
            this.colorCoordinates);

        // ...

        int depthIndex = x + (y * this.depthWidth);
        DepthImagePixel depthPixel = this.depthPixels[depthIndex];

        // scale color coordinates to depth resolution
        int X = colorImagePoint.X / this.colorToDepthDivisor;
        int Y = colorImagePoint.Y / this.colorToDepthDivisor;

        // depthPixel is the depth for the (X,Y) pixel in the color frame
    }
}

Answer 2

感谢Vito您的快速回复。我解决了Kinect sdk从深度框架到彩色框架提供给我。我从深度颜色映射的manuel逆事务中找到图像点（x，y）的深度值。

此功能返回特定彩色图像点的深度值。

public int GetDepthFromColorImagePoint(KinectSensor sensor, DepthImageFormat depthImageFormat, ColorImageFormat colorImageFormat, DepthImagePixel[] depthPixels, int depthWidth, int depthHeight, int colorImageX, int colorImageY)
{
   ColorImagePoint[] color_points = new ColorImagePoint[depthHeight * depthWidth];

   sensor.CoordinateMapper.MapDepthFrameToColorFrame(depthImageFormat, depthPixels, colorImageFormat, color_points);

   int depthIndex = color_points.ToList().FindIndex(p => p.X == colorImageX && p.Y == colorImageY);
      if (depthIndex < 0)
          return -1;
      short depthValue = depthPixels[depthIndex].Depth;
      return depthValue;
}

如果您看到此功能的结果，请查看此gif

使用Kinect v1进行XBOX的色点映射到深度点

2 个答案: