在Kinect中查找颜色像素的深度值

2 回答

• 1

  如果要将“颜色”框架映射到“深度”框架，则需要使用方法MapColorFrameToDepthSpace：

  ushort[] depthData = ... // Data from the Depth Frame
  DepthSpacePoint[] result = new DepthSpacePoint[512 * 424];
  
  _sensor.CoordinateMapper.MapColorFrameToDepthSpace(depthData, result);
  

  您需要为此方法提供2个参数：

  • 完整的深度帧数据（如this） .

  • DepthSpacePoints的空数组 .

  提供这些参数，空数组将填充适当的DepthSpacePoint值 .

  否则，拉法夫的回答就是你所需要的 .

  回复于 2024-05-08T17:02:06+08:00
• 1

  以下是一个示例，我已将 CameraSpacePoint 转换为 ColorSpacePoint ，将 CameraSpacePoint 转换为 DepthSpacePoint .

  using System;
  using System.Collections.Generic;
  using System.Linq;
  using System.Text;
  using System.Threading.Tasks;
  using Microsoft.Kinect;
  
  namespace Coordinate_Mapper
  {
      class Program
      {
          public static KinectSensor ks;
          public static MultiSourceFrameReader msfr;
          public static Body[] bodies;
          public static CameraSpacePoint[] cameraSpacePoints;
          public static DepthSpacePoint[] depthSpacePoints;
          public static ColorSpacePoint[] colorSpacePoints;
  
          static void Main(string[] args)
          {
              ks = KinectSensor.GetDefault();
              ks.Open();
              bodies = new Body[ks.BodyFrameSource.BodyCount];
              cameraSpacePoints = new CameraSpacePoint[1];
              colorSpacePoints = new ColorSpacePoint[1];
              depthSpacePoints = new DepthSpacePoint[1];
  
              msfr = ks.OpenMultiSourceFrameReader(FrameSourceTypes.Depth | FrameSourceTypes.Color | FrameSourceTypes.Body);
              msfr.MultiSourceFrameArrived += msfr_MultiSourceFrameArrived;
  
              Console.ReadKey();
          }
  
          static void msfr_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
          {
              if (e.FrameReference == null) return;
              MultiSourceFrame multiframe = e.FrameReference.AcquireFrame();
              if (multiframe == null) return;
  
              if (multiframe.BodyFrameReference != null)
              {
                  using (var bf = multiframe.BodyFrameReference.AcquireFrame())
                  {
                      bf.GetAndRefreshBodyData(bodies);
                      foreach (var body in bodies)
                      {
                          if (!body.IsTracked) continue;
                          // CameraSpacePoint
                          cameraSpacePoints[0] = body.Joints[0].Position;
                          Console.WriteLine("{0} {1} {2}", cameraSpacePoints[0].X, cameraSpacePoints[0].Y, cameraSpacePoints[0].Z);
  
                          // CameraSpacePoints => ColorSpacePoints
                          ks.CoordinateMapper.MapCameraPointsToColorSpace(cameraSpacePoints, colorSpacePoints);
                          Console.WriteLine("ColorSpacePoint : {0} {1}", colorSpacePoints[0].X, colorSpacePoints[0].Y);
  
                          // CameraSpacePoints => DepthSpacePoints
                          ks.CoordinateMapper.MapCameraPointsToDepthSpace(cameraSpacePoints, depthSpacePoints);
                          Console.WriteLine("DepthSpacePoint : {0} {1}", depthSpacePoints[0].X, depthSpacePoints[0].Y);
                      }
                  }
              }
          }
      }
  }
  

  N：B：

  • 我要将 CameraSpacePoint ， DepthSpacePoint ， ColorSpacePoint 存储到数组中，因为 CoordinateMapper 类中方法的参数是数组 . 有关更多信息，请查看CoordinateMapper Method Reference

  • 此博客可能对您有所帮助 . Understanding Kinect Coordinate Mapping

  回复于 2024-05-08T17:02:06+08:00