3D到2D图像转换-PointCloud到OpenCV图像-C ++

Question

I'm collecting a hand 3d image from my Kinect, and I want to generate a 2d image using only the X and Y values to do image processing using OpenCV. The size of the 3d matrix is variable and depends on the output from the Kinect and the X and Y values are not in proper scale to generate an 2d image. My 3d points and my 3d image are: http://postimg.org/image/g0hm3y06n/

I really don't know how can I generate my 2d image to perform my Image Processing.

Someone can help me or have a good example that I can use to create my image and do the proper scaling for that problem? I want as output the HAND CONTOURS.

Answer 1

I think you should apply Delaunay triangulation to 2D coordinates of point cloud (depth ignored), then remove too long vertices from triangles. You can estimate the length threshold by counting points per some area and evaluating square root from the value you'll get. After you got triangulation you can draw filled triangles and find contours.

Answer 2

I think what you are looking for is the OKPCL package .. Also, make sure you check out this PCL post about the topic.. There is also an OpenCVPCL Bridge class but apparently the website is down.

And lastly, there has been official word that the OpenCV and PCL are joining forces for a development platform that integrates GPU computing with 2d/3D perception and processing.

HTH

Answer 3

You could use PCLs RangeImage respectively RangeImagePlanar class with its createFromPointCloud method (I think you do have a point cloud, right? Or what do you mean by 3D image?).

Then you can create a OpenCV Mat using getImagePoint functions.