我想知道是否有人能够在 java 中将 openni 与 opencv 结合使用? 例如,您在IplImage等中获得深度流...我目前正在尝试这样做,但我不知道从哪里开始。
如果有人这样做想要分享他们的知识或代码,我将不胜感激。
到目前为止我的代码:
/
*
* To change this template, choose Tools | Templates
* and open the template in the editor.
/**
*
* @author olivierjanssens
*/
package kitouch;
import com.googlecode.javacpp.Loader;
import com.googlecode.javacv.*;
import com.googlecode.javacv.cpp.*;
import static com.googlecode.javacv.cpp.opencv_core.*;
import static com.googlecode.javacv.cpp.opencv_imgproc.*;
import static com.googlecode.javacv.cpp.opencv_calib3d.*;
import static com.googlecode.javacv.cpp.opencv_objdetect.*;
import java.nio.ShortBuffer;
import java.awt.*;
import java.awt.image.*;
import org.OpenNI.*;
import javax.swing.JFrame;
public class KiTouch {
private Context context;
private final String SAMPLE_XML_FILE = "/Users/olivierjanssens/Development/Kinect/OpenNI/Samples/Config/SamplesConfig.xml";
private OutArg<ScriptNode> scriptNode;
private DepthGenerator depthGen;
private BufferedImage bimg;
int width, height;
IplImage depthImage;
private float histogram[];
private byte[] imgbytes;
CanvasFrame frame = new CanvasFrame("Some Title");
public KiTouch() {
try {
scriptNode = new OutArg<ScriptNode>();
context = Context.createFromXmlFile(SAMPLE_XML_FILE, scriptNode);
depthGen = DepthGenerator.create(context);
DepthMetaData depthMD = depthGen.getMetaData();
histogram = new float[10000];
width = depthMD.getFullXRes();
height = depthMD.getFullYRes();
imgbytes = new byte[width*height];
DataBufferByte dataBuffer = new DataBufferByte(imgbytes, width*height);
Raster raster = Raster.createPackedRaster(dataBuffer, width, height, 8, null);
bimg = new BufferedImage(width, height, BufferedImage.TYPE_BYTE_GRAY);
bimg.setData(raster);
depthImage = IplImage.create(width, height, IPL_DEPTH_8U, 1);
} catch (GeneralException e) {
e.printStackTrace();
System.exit(1);
}
}
private void calcHist(DepthMetaData depthMD)
{
// reset
for (int i = 0; i < histogram.length; ++i)
histogram[i] = 0;
ShortBuffer depth = depthMD.getData().createShortBuffer();
depth.rewind();
int points = 0;
while(depth.remaining() > 0)
{
short depthVal = depth.get();
if (depthVal != 0)
{
histogram[depthVal]++;
points++;
}
}
for (int i = 1; i < histogram.length; i++)
{
histogram[i] += histogram[i-1];
}
if (points > 0)
{
for (int i = 1; i < histogram.length; i++)
{
histogram[i] = (int)(256 * (1.0f - (histogram[i] / (float)points)));
}
}
}
public Dimension getPreferredSize() {
return new Dimension(width, height);
}
void updateDepth()
{
try {
DepthMetaData depthMD = depthGen.getMetaData();
context.waitAnyUpdateAll();
calcHist(depthMD);
ShortBuffer depth = depthMD.getData().createShortBuffer();
depth.rewind();
while(depth.remaining() > 0)
{
int pos = depth.position();
short pixel = depth.get();
imgbytes[pos] = (byte)histogram[pixel];
}
depthImage.createFrom(bimg);
frame.showImage(depthImage);
} catch (GeneralException e) {
e.printStackTrace();
}
}
}
并调用此代码:
/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
package kitouch;
import org.OpenNI.GeneralException;
/**
*
* @author olivierjanssens
*/
public class kiTouchApp {
public static void main(String s[]) throws GeneralException {
KiTouch kit = new KiTouch();
while(true) {
kit.updateDepth();
}
}
}
虽然我得到一个黑框。所以它还没有工作
当我不像我在这里那样初始化IplImage而只是IplImage depthImage = new IplImage();我收到这个错误:
Exception in thread "main" java.lang.NullPointerException
at java.awt.image.BufferedImage.<init>(BufferedImage.java:613)
at com.googlecode.javacv.cpp.opencv_core$IplImage.getBufferedImage(opencv_core.java:1005)
at com.googlecode.javacv.cpp.opencv_core$IplImage.getBufferedImage(opencv_core.java:931)
at com.googlecode.javacv.CanvasFrame.showImage(CanvasFrame.java:331)
at kitouch.KiTouch.paint(KiTouch.java:138)
at kitouch.kiTouchApp.main(kiTouchApp.java:21)
提前谢谢!
答案 0 :(得分:1)
我确实使用过OpenNI和Java,但使用Processing和可用的包装器(SimpleOpenNI和OpenCV),这对我目前的适度需求来说效果很好。 这是一个非常基本的例子:
import hypermedia.video.*;
import SimpleOpenNI.*;
SimpleOpenNI ni;
OpenCV cv;
PImage user;
void setup()
{
ni = new SimpleOpenNI(this);
ni.enableScene();
background(200,0,0);
strokeWeight(4);
size(ni.sceneWidth() , ni.sceneHeight());
cv = new OpenCV( this );
cv.allocate(width,height);
}
void draw()
{
//OpenNI
ni.update();
user = ni.sceneImage();
//OpenCV
cv.copy(user);
cv.blur( OpenCV.BLUR, 17 );
Blob[] blobs = cv.blobs( width,height, OpenCV.MAX_VERTICES, true, OpenCV.MAX_VERTICES*4 );
//diplay
image(cv.image(),0,0);
//*
fill(255);
for(Blob b : blobs){
beginShape();
for(java.awt.Point p : b.points) vertex(p.x,p.y);
endShape(CLOSE);
}
//*/
}
请注意,此OpenCV包装器使用OpenCV 1.0,您也可能希望使用自己的Java类,而不是使用Processing库。在这种情况下,请尝试JavaCV包装器。
关于深度流,如果你查看OpenNI附带的org.OpenNI.Samples.SimpleViewer
类,你会发现OpenNI的深度字节被写入BufferedImage,我想这可以与OpenCV等集成。
public SimpleViewer() {
try {
scriptNode = new OutArg<ScriptNode>();
context = Context.createFromXmlFile(SAMPLE_XML_FILE, scriptNode);
depthGen = DepthGenerator.create(context);
DepthMetaData depthMD = depthGen.getMetaData();
histogram = new float[10000];
width = depthMD.getFullXRes();
height = depthMD.getFullYRes();
imgbytes = new byte[width*height];
DataBufferByte dataBuffer = new DataBufferByte(imgbytes, width*height);
Raster raster = Raster.createPackedRaster(dataBuffer, width, height, 8, null);
bimg = new BufferedImage(width, height, BufferedImage.TYPE_BYTE_GRAY);
bimg.setData(raster);
} catch (GeneralException e) {
e.printStackTrace();
System.exit(1);
}
}