Question

我对Kinect v2 CoordinateMapper API感到困惑。我想在Kinect v2中获取每个3D点的RGB值，即CameraSpacePoint。

请参阅下面的代码段：

var depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame();
var colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();

var depthWidth = depthFrame.FrameDescription.Width;
var depthHeight = depthFrame.FrameDescription.Height;

ushort[] depthData = new ushort[depthWidth * depthHeight];
CameraSpacePoint[] camerapoints = new CameraSpacePoint[depthData.Length];
ColorSpacePoint[] colorpoints = new ColorSpacePoint[depthData.Length];

depthFrame.CopyFrameDataToArray(depthData);
this.coordinateMapper.MapDepthFrameToCameraSpace(depthData, camerapoints);
this.coordinateMapper.MapDepthFrameToColorSpace(depthData, colorpoints);

3D点存储在camerapoints变量中。我想要每个camerapoints的RGB值。换句话说，请参阅下面的pesudo代码：

RGBPoint[] rgbpoints = new RGBPoint[depthData.Length];
RGBPoint rgbpoint = rgbpoints[0];
int red   = rgbpoint.r
int green = rgbpoint.g
int blue  = rgbpoint.b

一如既往，非常感谢你。我非常感谢您的回应。

Answer 1

android数组包含与colorpoints数组中每个像素对应的（x，y）索引。从这里开始，我们可以在depthData指示的每个特定（x，y）索引处获取颜色框架数据（来自colorFrame）。

colorpoints[index]

获取Kinect v2中每个3D点的RGB值

1 个答案: