由Kinect上的颜色和深度传感器产生的图像略微不对齐。我怎样才能改变它们以使它们排成一行？
由Kinect上的颜色和深度传感器产生的图像略微不对齐。我怎样才能改变它们以使它们排成一行？
关键是调用'Runtime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel'
这是Runtime类的扩展方法。它返回一个WriteableBitmap对象。随着新帧的进入，这个WriteableBitmap会自动更新。所以它的使用非常简单：
kinect = new Runtime();
kinect.Initialize(RuntimeOptions.UseColor | RuntimeOptions.UseSkeletalTracking | RuntimeOptions.UseDepthAndPlayerIndex);
kinect.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution320x240, ImageType.DepthAndPlayerIndex);
kinect.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color);
myImageControl.Source = kinect.CreateLivePlayerRenderer();
这是代码本身：
public static class RuntimeExtensions
{
public static WriteableBitmap CreateLivePlayerRenderer(this Runtime runtime)
{
if (runtime.DepthStream.Width == 0)
throw new InvalidOperationException("Either open the depth stream before calling this method or use the overload which takes in the resolution that the depth stream will later be opened with.");
return runtime.CreateLivePlayerRenderer(runtime.DepthStream.Width, runtime.DepthStream.Height);
}
public static WriteableBitmap CreateLivePlayerRenderer(this Runtime runtime, int depthWidth, int depthHeight)
{
PlanarImage depthImage = new PlanarImage();
WriteableBitmap target = new WriteableBitmap(depthWidth, depthHeight, 96, 96, PixelFormats.Bgra32, null);
var depthRect = new System.Windows.Int32Rect(0, 0, depthWidth, depthHeight);
runtime.DepthFrameReady += (s, e) =>
{
depthImage = e.ImageFrame.Image;
Debug.Assert(depthImage.Height == depthHeight && depthImage.Width == depthWidth);
};
runtime.VideoFrameReady += (s, e) =>
{
// don't do anything if we don't yet have a depth image
if (depthImage.Bits == null) return;
byte[] color = e.ImageFrame.Image.Bits;
byte[] output = new byte[depthWidth * depthHeight * 4];
// loop over each pixel in the depth image
int outputIndex = 0;
for (int depthY = 0, depthIndex = 0; depthY < depthHeight; depthY++)
{
for (int depthX = 0; depthX < depthWidth; depthX++, depthIndex += 2)
{
// combine the 2 bytes of depth data representing this pixel
short depthValue = (short)(depthImage.Bits[depthIndex] | (depthImage.Bits[depthIndex + 1] << 8));
// extract the id of a tracked player from the first bit of depth data for this pixel
int player = depthImage.Bits[depthIndex] & 7;
// find a pixel in the color image which matches this coordinate from the depth image
int colorX, colorY;
runtime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(
e.ImageFrame.Resolution,
e.ImageFrame.ViewArea,
depthX, depthY, // depth coordinate
depthValue, // depth value
out colorX, out colorY); // color coordinate
// ensure that the calculated color location is within the bounds of the image
colorX = Math.Max(0, Math.Min(colorX, e.ImageFrame.Image.Width - 1));
colorY = Math.Max(0, Math.Min(colorY, e.ImageFrame.Image.Height - 1));
output[outputIndex++] = color[(4 * (colorX + (colorY * e.ImageFrame.Image.Width))) + 0];
output[outputIndex++] = color[(4 * (colorX + (colorY * e.ImageFrame.Image.Width))) + 1];
output[outputIndex++] = color[(4 * (colorX + (colorY * e.ImageFrame.Image.Width))) + 2];
output[outputIndex++] = player > 0 ? (byte)255 : (byte)0;
}
}
target.WritePixels(depthRect, output, depthWidth * PixelFormats.Bgra32.BitsPerPixel / 8, 0);
};
return target;
}
}
关键是调用'Runtime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel'
这是Runtime类的扩展方法。它返回一个WriteableBitmap对象。随着新帧的进入，这个WriteableBitmap会自动更新。所以它的使用非常简单：
kinect = new Runtime();
kinect.Initialize(RuntimeOptions.UseColor | RuntimeOptions.UseSkeletalTracking | RuntimeOptions.UseDepthAndPlayerIndex);
kinect.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution320x240, ImageType.DepthAndPlayerIndex);
kinect.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color);
myImageControl.Source = kinect.CreateLivePlayerRenderer();
这是代码本身：
public static class RuntimeExtensions
{
public static WriteableBitmap CreateLivePlayerRenderer(this Runtime runtime)
{
if (runtime.DepthStream.Width == 0)
throw new InvalidOperationException("Either open the depth stream before calling this method or use the overload which takes in the resolution that the depth stream will later be opened with.");
return runtime.CreateLivePlayerRenderer(runtime.DepthStream.Width, runtime.DepthStream.Height);
}
public static WriteableBitmap CreateLivePlayerRenderer(this Runtime runtime, int depthWidth, int depthHeight)
{
PlanarImage depthImage = new PlanarImage();
WriteableBitmap target = new WriteableBitmap(depthWidth, depthHeight, 96, 96, PixelFormats.Bgra32, null);
var depthRect = new System.Windows.Int32Rect(0, 0, depthWidth, depthHeight);
runtime.DepthFrameReady += (s, e) =>
{
depthImage = e.ImageFrame.Image;
Debug.Assert(depthImage.Height == depthHeight && depthImage.Width == depthWidth);
};
runtime.VideoFrameReady += (s, e) =>
{
// don't do anything if we don't yet have a depth image
if (depthImage.Bits == null) return;
byte[] color = e.ImageFrame.Image.Bits;
byte[] output = new byte[depthWidth * depthHeight * 4];
// loop over each pixel in the depth image
int outputIndex = 0;
for (int depthY = 0, depthIndex = 0; depthY < depthHeight; depthY++)
{
for (int depthX = 0; depthX < depthWidth; depthX++, depthIndex += 2)
{
// combine the 2 bytes of depth data representing this pixel
short depthValue = (short)(depthImage.Bits[depthIndex] | (depthImage.Bits[depthIndex + 1] << 8));
// extract the id of a tracked player from the first bit of depth data for this pixel
int player = depthImage.Bits[depthIndex] & 7;
// find a pixel in the color image which matches this coordinate from the depth image
int colorX, colorY;
runtime.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(
e.ImageFrame.Resolution,
e.ImageFrame.ViewArea,
depthX, depthY, // depth coordinate
depthValue, // depth value
out colorX, out colorY); // color coordinate
// ensure that the calculated color location is within the bounds of the image
colorX = Math.Max(0, Math.Min(colorX, e.ImageFrame.Image.Width - 1));
colorY = Math.Max(0, Math.Min(colorY, e.ImageFrame.Image.Height - 1));
output[outputIndex++] = color[(4 * (colorX + (colorY * e.ImageFrame.Image.Width))) + 0];
output[outputIndex++] = color[(4 * (colorX + (colorY * e.ImageFrame.Image.Width))) + 1];
output[outputIndex++] = color[(4 * (colorX + (colorY * e.ImageFrame.Image.Width))) + 2];
output[outputIndex++] = player > 0 ? (byte)255 : (byte)0;
}
}
target.WritePixels(depthRect, output, depthWidth * PixelFormats.Bgra32.BitsPerPixel / 8, 0);
};
return target;
}
}
一种方法是假设颜色和深度图像在它们中具有相似的变化，并且使两个图像（或它们的较小版本）交叉相关。