将深度映射到RGB空间

Question

我使用的是KinectPV2库，它很棒，但记录很差。

参考示例＆＃34; MapDepthToColor＆＃34;复制到下面我尝试检索每个RGB像素的深度。

设法调整原始示例以将深度映射到RGB空间，我留下了一个奇怪的重复边缘（见左下图）。

有人可以指出发生了什么吗？

/*
Thomas Sanchez Lengeling.
<a href="http://codigogenerativo.com/" target="_blank" rel="nofollow">http://codigogenerativo.com/</a>

KinectPV2, Kinect for Windows v2 library for processing

Color to fepth Example,
Color Frame is aligned to the depth frame
*/

import KinectPV2.*;

KinectPV2 kinect;

int [] depthZero;

//BUFFER ARRAY TO CLEAN DE PIXLES
PImage depthToColorImg;

void setup() {
  size(1024, 848, P3D);

  depthToColorImg = createImage(512, 424, PImage.RGB);
  depthZero    = new int[ KinectPV2.WIDTHDepth * KinectPV2.HEIGHTDepth];

  //SET THE ARRAY TO 0s
  for (int i = 0; i < KinectPV2.WIDTHDepth; i++) {
    for (int j = 0; j < KinectPV2.HEIGHTDepth; j++) {
      depthZero[424*i + j] = 0;
    }
  }

  kinect = new KinectPV2(this);
  kinect.enableDepthImg(true);
  kinect.enableColorImg(true);
  kinect.enablePointCloud(true);

  kinect.init();
}

void draw() {
  background(0);

  float [] mapDCT = kinect.getMapDepthToColor(); // Size: 434,176 (512*424)

  //get the raw data from depth and color
  int [] colorRaw = kinect.getRawColor(); // Size: 2,073,600 (1920*1080)

  int [] depthRaw = kinect.getRawDepthData(); // 434176

  //clean de pixels
  PApplet.arrayCopy(depthZero, depthToColorImg.pixels);

  int count = 0;
  depthToColorImg.loadPixels();
  for (int i = 0; i < KinectPV2.WIDTHDepth; i++) {
    for (int j = 0; j < KinectPV2.HEIGHTDepth; j++) {

      //incoming pixels 512 x 424 with position in 1920 x 1080
      float valX = mapDCT[count * 2 + 0];
      float valY = mapDCT[count * 2 + 1];


      //maps the pixels to 512 x 424, not necessary but looks better
      int valXDepth = (int)((valX/1920.0) * 512.0);
      int valYDepth = (int)((valY/1080.0) * 424.0);

      int  valXColor = (int)(valX);
      int  valYColor = (int)(valY);

      if ( valXDepth >= 0 && valXDepth < 512 && valYDepth >= 0 && valYDepth < 424 &&
        valXColor >= 0 && valXColor < 1920 && valYColor >= 0 && valYColor < 1080) {
        float col = map(depthRaw[valYDepth * 512 + valXDepth], 0, 4500, 0, 255);
        //color colorPixel = colorRaw[valYColor * 1920 + valXColor]; // This works as intended
        color colorPixel = color(col); // This doesn't
        depthToColorImg.pixels[valYDepth * 512 + valXDepth] = colorPixel;
      } 
      count++;
    }
  }
  depthToColorImg.updatePixels();

  image(depthToColorImg, 0, 424);
  image(kinect.getColorImage(), 0, 0, 512, 424);
  image(kinect.getDepthImage(), 512, 0);

  text("fps: "+frameRate, 50, 50);
}

Answer 1

我在此处发布了此问题的解决方案：https://forum.processing.org/two/discussion/comment/95494#Comment_95494