我一直在使用Processing和Cinder来动态修改Kinect输入。但是,我还想记录整个流(深度+颜色+加速度计值,以及其中的任何其他内容)。我正在录音,所以我可以在相同的材料上尝试不同的效果/治疗。
因为我还在学习Cinder并且处理速度很慢/很迟,所以我很难找到关于捕获流的策略的建议 - 任何事情(最好是在Cinder,oF或Processing中)都会非常有用。
答案 0 :(得分:3)
我已经尝试过Processing和OpenFrameworks。显示两个图像(深度和颜色)时处理速度较慢。将数据写入磁盘时,OpenFrameworks会慢一点,但这是基本方法:
在这个基本设置中,我创建了几个图像实例和一个用于切换保存的布尔值。在示例中,深度和RGB缓冲区被保存到xCvGrayscaleImage实例中,但我没有使用OF和OpenCV足以知道如何做一些简单的操作将图像保存到磁盘,这就是为什么我使用了两个{{3实例。
我不知道你对Processing,OF,Cinder多么自在,所以,为了论证,我会假设你知道你在处理这个问题,但你仍然在处理C ++。
OF与Processing非常相似,但存在一些差异:
我在这里详细介绍了更多不同之处。请查看维基上的ofImage
回到exampleKinect示例,这里是我的基本设置:
.h文件:
#pragma once
#include "ofMain.h"
#include "ofxOpenCv.h"
#include "ofxKinect.h"
class testApp : public ofBaseApp {
public:
void setup();
void update();
void draw();
void exit();
void drawPointCloud();
void keyPressed (int key);
void mouseMoved(int x, int y );
void mouseDragged(int x, int y, int button);
void mousePressed(int x, int y, int button);
void mouseReleased(int x, int y, int button);
void windowResized(int w, int h);
ofxKinect kinect;
ofxCvColorImage colorImg;
ofxCvGrayscaleImage grayImage;
ofxCvGrayscaleImage grayThresh;
ofxCvGrayscaleImage grayThreshFar;
ofxCvContourFinder contourFinder;
ofImage colorData;//to save RGB data to disk
ofImage grayData;//to save depth data to disk
bool bThreshWithOpenCV;
bool drawPC;
bool saveData;//save to disk toggle
int nearThreshold;
int farThreshold;
int angle;
int pointCloudRotationY;
int saveCount;//counter used for naming 'frames'
};
和.cpp文件:
#include "testApp.h"
//--------------------------------------------------------------
void testApp::setup() {
//kinect.init(true); //shows infrared image
kinect.init();
kinect.setVerbose(true);
kinect.open();
colorImg.allocate(kinect.width, kinect.height);
grayImage.allocate(kinect.width, kinect.height);
grayThresh.allocate(kinect.width, kinect.height);
grayThreshFar.allocate(kinect.width, kinect.height);
//allocate memory for these ofImages which will be saved to disk
colorData.allocate(kinect.width, kinect.height, OF_IMAGE_COLOR);
grayData.allocate(kinect.width, kinect.height, OF_IMAGE_GRAYSCALE);
nearThreshold = 230;
farThreshold = 70;
bThreshWithOpenCV = true;
ofSetFrameRate(60);
// zero the tilt on startup
angle = 0;
kinect.setCameraTiltAngle(angle);
// start from the front
pointCloudRotationY = 180;
drawPC = false;
saveCount = 0;//init frame counter
}
//--------------------------------------------------------------
void testApp::update() {
ofBackground(100, 100, 100);
kinect.update();
if(kinect.isFrameNew()) // there is a new frame and we are connected
{
grayImage.setFromPixels(kinect.getDepthPixels(), kinect.width, kinect.height);
if(saveData){
//if toggled, set depth and rgb pixels to respective ofImage, save to disk and update the 'frame' counter
grayData.setFromPixels(kinect.getDepthPixels(), kinect.width, kinect.height,true);
colorData.setFromPixels(kinect.getCalibratedRGBPixels(), kinect.width, kinect.height,true);
grayData.saveImage("depth"+ofToString(saveCount)+".png");
colorData.saveImage("color"+ofToString(saveCount)+".png");
saveCount++;
}
//we do two thresholds - one for the far plane and one for the near plane
//we then do a cvAnd to get the pixels which are a union of the two thresholds.
if( bThreshWithOpenCV ){
grayThreshFar = grayImage;
grayThresh = grayImage;
grayThresh.threshold(nearThreshold, true);
grayThreshFar.threshold(farThreshold);
cvAnd(grayThresh.getCvImage(), grayThreshFar.getCvImage(), grayImage.getCvImage(), NULL);
}else{
//or we do it ourselves - show people how they can work with the pixels
unsigned char * pix = grayImage.getPixels();
int numPixels = grayImage.getWidth() * grayImage.getHeight();
for(int i = 0; i < numPixels; i++){
if( pix[i] < nearThreshold && pix[i] > farThreshold ){
pix[i] = 255;
}else{
pix[i] = 0;
}
}
}
//update the cv image
grayImage.flagImageChanged();
// find contours which are between the size of 20 pixels and 1/3 the w*h pixels.
// also, find holes is set to true so we will get interior contours as well....
contourFinder.findContours(grayImage, 10, (kinect.width*kinect.height)/2, 20, false);
}
}
//--------------------------------------------------------------
void testApp::draw() {
ofSetColor(255, 255, 255);
if(drawPC){
ofPushMatrix();
ofTranslate(420, 320);
// we need a proper camera class
drawPointCloud();
ofPopMatrix();
}else{
kinect.drawDepth(10, 10, 400, 300);
kinect.draw(420, 10, 400, 300);
grayImage.draw(10, 320, 400, 300);
contourFinder.draw(10, 320, 400, 300);
}
ofSetColor(255, 255, 255);
stringstream reportStream;
reportStream << "accel is: " << ofToString(kinect.getMksAccel().x, 2) << " / "
<< ofToString(kinect.getMksAccel().y, 2) << " / "
<< ofToString(kinect.getMksAccel().z, 2) << endl
<< "press p to switch between images and point cloud, rotate the point cloud with the mouse" << endl
<< "using opencv threshold = " << bThreshWithOpenCV <<" (press spacebar)" << endl
<< "set near threshold " << nearThreshold << " (press: + -)" << endl
<< "set far threshold " << farThreshold << " (press: < >) num blobs found " << contourFinder.nBlobs
<< ", fps: " << ofGetFrameRate() << endl
<< "press c to close the connection and o to open it again, connection is: " << kinect.isConnected() << endl
<< "press s to toggle saving depth and color data. currently saving: " << saveData << endl
<< "press UP and DOWN to change the tilt angle: " << angle << " degrees";
ofDrawBitmapString(reportStream.str(),20,656);
}
void testApp::drawPointCloud() {
ofScale(400, 400, 400);
int w = 640;
int h = 480;
ofRotateY(pointCloudRotationY);
float* distancePixels = kinect.getDistancePixels();
glBegin(GL_POINTS);
int step = 2;
for(int y = 0; y < h; y += step) {
for(int x = 0; x < w; x += step) {
ofPoint cur = kinect.getWorldCoordinateFor(x, y);
ofColor color = kinect.getCalibratedColorAt(x,y);
glColor3ub((unsigned char)color.r,(unsigned char)color.g,(unsigned char)color.b);
glVertex3f(cur.x, cur.y, cur.z);
}
}
glEnd();
}
//--------------------------------------------------------------
void testApp::exit() {
kinect.setCameraTiltAngle(0); // zero the tilt on exit
kinect.close();
}
//--------------------------------------------------------------
void testApp::keyPressed (int key) {
switch (key) {
case ' ':
bThreshWithOpenCV = !bThreshWithOpenCV;
break;
case'p':
drawPC = !drawPC;
break;
case '>':
case '.':
farThreshold ++;
if (farThreshold > 255) farThreshold = 255;
break;
case '<':
case ',':
farThreshold --;
if (farThreshold < 0) farThreshold = 0;
break;
case '+':
case '=':
nearThreshold ++;
if (nearThreshold > 255) nearThreshold = 255;
break;
case '-':
nearThreshold --;
if (nearThreshold < 0) nearThreshold = 0;
break;
case 'w':
kinect.enableDepthNearValueWhite(!kinect.isDepthNearValueWhite());
break;
case 'o':
kinect.setCameraTiltAngle(angle); // go back to prev tilt
kinect.open();
break;
case 'c':
kinect.setCameraTiltAngle(0); // zero the tilt
kinect.close();
break;
case 's'://s to toggle saving data
saveData = !saveData;
break;
case OF_KEY_UP:
angle++;
if(angle>30) angle=30;
kinect.setCameraTiltAngle(angle);
break;
case OF_KEY_DOWN:
angle--;
if(angle<-30) angle=-30;
kinect.setCameraTiltAngle(angle);
break;
}
}
//--------------------------------------------------------------
void testApp::mouseMoved(int x, int y) {
pointCloudRotationY = x;
}
//--------------------------------------------------------------
void testApp::mouseDragged(int x, int y, int button)
{}
//--------------------------------------------------------------
void testApp::mousePressed(int x, int y, int button)
{}
//--------------------------------------------------------------
void testApp::mouseReleased(int x, int y, int button)
{}
//--------------------------------------------------------------
void testApp::windowResized(int w, int h)
{}
这是一个非常基本的设置。随意修改(为保存的数据添加倾斜角度等) 我很确定有多种方法可以快速提高速度(例如,不要更新xCvGrayscaleImage实例,也不要在保存时将图像绘制到屏幕上,或者堆叠几帧并按间隔写入,而不是每帧都写等。 )
古德勒克