Question

一个多月以来，我一直在尝试对尸体进行3D渲染，我感到非常困惑。我一直在使用处理程序（特别是修改Daniel Schiffman创建的点云示例）来从1 Kinect创建点云，但是无法弄清楚如何在Mac上组合来自2种kinects的云。我可以记录2个点云，然后在其他软件中将它们合并吗？每当我导出点云时，背景都会变为黑色。这是我正在使用的完整代码：`

import org.openkinect.freenect.*;
import org.openkinect.processing.*;
import codeanticode.syphon.*;

// Kinect Library object
Kinect kinect;
SyphonServer server;

// Angle for rotation
float r = radians(20);

// We'll use a lookup table so that we don't have to repeat the math over and over
float[] depthLookUp = new float[2048];

void setup() {
  // Rendering in P3D
  //for tim
  // size(2400, 400, P3D);
  size(1280, 720, P3D);
  kinect = new Kinect(this);
  kinect.initDepth();
  server = new SyphonServer(this, "Processing Syphon");

  // Lookup table for all possible depth values (0 - 2047)
  for (int i = 0; i < depthLookUp.length; i++) {
    depthLookUp[i] = rawDepthToMeters(i);
  }
}

void draw() {

  background(0,0,0,.1);
  // Get the raw depth as array of integers
  int[] depth = kinect.getRawDepth();

  // We're just going to calculate and draw every 4th pixel (equivalent of 160x120)
  int skip = 2;

  // Translate and rotate
  translate(width/2, height/2);
  //rotateX(r);
  rotateY(r);
  //rotateZ(r);  
  // Nested for loop that initializes x and y pixels and, for those less than the
  // maximum threshold and at every skiping point, the offset is caculated to map
  // them on a plane instead of just a line
  for (int x = 0; x < kinect.width; x += skip) {
    for (int y = 0; y < kinect.height; y += skip) {
      int offset = x + y*kinect.width;

      // Convert kinect data to world xyz coordinate
      int rawDepth = depth[offset];
      PVector v = depthToWorld(x, y, rawDepth);

      ///if (v < kinect.width/2) {
        //stroke(204, 102, 0);
        //}
        //stroke(0, 102, 0);
      stroke(255,255,255);
      pushMatrix();
      // Scale up by 400
      float factor = 500;
      translate(v.x*factor, v.y*factor, factor-v.z*factor);
      // Draw a point
      point(0, 0);
      popMatrix();
    }
  }

  // Rotate
  r += 0.00f;
  server.sendScreen();

  //saveFrame("output1/dancer_####.png");
}

// These functions come from: http://graphics.stanford.edu/~mdfisher/Kinect.html
float rawDepthToMeters(int depthValue) {
  if (depthValue < 947) {
    return (float)(1.0 / ((double)(depthValue) * -0.0030711016 + 3.3309495161 ));
  }
  return 0.0f;
}

// Only needed to make sense of the ouput depth values from the kinect
PVector depthToWorld(int x, int y, int depthValue) {

  final double fx_d = 1.0 / 5.9421434211923247e+02;
  final double fy_d = 1.0 / 5.9104053696870778e+02;
  final double cx_d = 3.3930780975300314e+02;
  final double cy_d = 2.4273913761751615e+02;

// Drawing the result vector to give each point its three-dimensional space
  PVector result = new PVector();
  double depth =  depthLookUp[depthValue];//rawDepthToMeters(depthValue);
  result.x = (float)((x - cx_d) * depth * fx_d);
  result.y = (float)((y - cy_d) * depth * fy_d);
  result.z = (float)(depth);
  return result;
}`

使用2 Kinects v1在Mac上创建3D白点云视频

0 个答案: