将深度映射到RGB空间

Question

I'm using the KinectPV2 library which is great but very poorly documented.

With reference to the example "MapDepthToColor" copied below I'm trying to retrieve the depth for each RGB pixel.

Having managed to tweak the original example to map the Depth to RGB space I'm left with a strange duplicated edge (see bottom left image).

Can someone point out what's going on?

/*
Thomas Sanchez Lengeling.
<a href="http://codigogenerativo.com/" target="_blank" rel="nofollow">http://codigogenerativo.com/</a>

KinectPV2, Kinect for Windows v2 library for processing

Color to fepth Example,
Color Frame is aligned to the depth frame
*/

import KinectPV2.*;

KinectPV2 kinect;

int [] depthZero;

//BUFFER ARRAY TO CLEAN DE PIXLES
PImage depthToColorImg;

void setup() {
  size(1024, 848, P3D);

  depthToColorImg = createImage(512, 424, PImage.RGB);
  depthZero    = new int[ KinectPV2.WIDTHDepth * KinectPV2.HEIGHTDepth];

  //SET THE ARRAY TO 0s
  for (int i = 0; i < KinectPV2.WIDTHDepth; i++) {
    for (int j = 0; j < KinectPV2.HEIGHTDepth; j++) {
      depthZero[424*i + j] = 0;
    }
  }

  kinect = new KinectPV2(this);
  kinect.enableDepthImg(true);
  kinect.enableColorImg(true);
  kinect.enablePointCloud(true);

  kinect.init();
}

void draw() {
  background(0);

  float [] mapDCT = kinect.getMapDepthToColor(); // Size: 434,176 (512*424)

  //get the raw data from depth and color
  int [] colorRaw = kinect.getRawColor(); // Size: 2,073,600 (1920*1080)

  int [] depthRaw = kinect.getRawDepthData(); // 434176

  //clean de pixels
  PApplet.arrayCopy(depthZero, depthToColorImg.pixels);

  int count = 0;
  depthToColorImg.loadPixels();
  for (int i = 0; i < KinectPV2.WIDTHDepth; i++) {
    for (int j = 0; j < KinectPV2.HEIGHTDepth; j++) {

      //incoming pixels 512 x 424 with position in 1920 x 1080
      float valX = mapDCT[count * 2 + 0];
      float valY = mapDCT[count * 2 + 1];


      //maps the pixels to 512 x 424, not necessary but looks better
      int valXDepth = (int)((valX/1920.0) * 512.0);
      int valYDepth = (int)((valY/1080.0) * 424.0);

      int  valXColor = (int)(valX);
      int  valYColor = (int)(valY);

      if ( valXDepth >= 0 && valXDepth < 512 && valYDepth >= 0 && valYDepth < 424 &&
        valXColor >= 0 && valXColor < 1920 && valYColor >= 0 && valYColor < 1080) {
        float col = map(depthRaw[valYDepth * 512 + valXDepth], 0, 4500, 0, 255);
        //color colorPixel = colorRaw[valYColor * 1920 + valXColor]; // This works as intended
        color colorPixel = color(col); // This doesn't
        depthToColorImg.pixels[valYDepth * 512 + valXDepth] = colorPixel;
      } 
      count++;
    }
  }
  depthToColorImg.updatePixels();

  image(depthToColorImg, 0, 424);
  image(kinect.getColorImage(), 0, 0, 512, 424);
  image(kinect.getDepthImage(), 512, 0);

  text("fps: "+frameRate, 50, 50);
}

Answer 1

我在这里发布了针对此问题的解决方案： https : //forum.processing.org/two/discussion/comment/95494#Comment_95494