c# - 将 Kinect V2 点云数据发送给远程用户

Question

我目前正在使用 Kinect V2 将深度图像数据从一个位置传输到另一个远程位置。我能够使用 C# 从 Kinect V2 中提取深度图像。现在我希望能够将此数据发送给远程用户，以便远程用户可以查看远程用户的 3D 视图。有没有人有任何教程或任何有用的指针？

谢谢

Answer 1

您可以使用OpenKinect-for-Processing库来管理和创建直播流。您可以保留来自 Kinectv2 的帧（或直接生成）视频。通过使用 OpenCV 库方法，您可以从 Kinectv2 输出帧生成视频文件。OpenKinect-for-Processing 是在您的浏览器上运行的用户友好且易于使用的库。对于快速教程，您可以查看此链接并查看此小型 youtube教程。

现在您可以开始编辑此代码示例：

// Daniel Shiffman
// Kinect Point Cloud example

// https://github.com/shiffman/OpenKinect-for-Processing
// http://shiffman.net/p5/kinect/

import org.openkinect.freenect.*;
import org.openkinect.processing.*;

// Kinect Library object
Kinect kinect;

// Angle for rotation
float a = 0;

// We'll use a lookup table so that we don't have to repeat the math over and over
float[] depthLookUp = new float[2048];

void setup() {
  // Rendering in P3D
  size(800, 600, P3D);
  kinect = new Kinect(this);
  kinect.initDepth();

  // Lookup table for all possible depth values (0 - 2047)
  for (int i = 0; i < depthLookUp.length; i++) {
    depthLookUp[i] = rawDepthToMeters(i);
  }
}

void draw() {

  background(0);

  // Get the raw depth as array of integers
  int[] depth = kinect.getRawDepth();

  // We're just going to calculate and draw every 4th pixel (equivalent of 160x120)
  int skip = 4;

  // Translate and rotate
  translate(width/2, height/2, -50);
  //rotateY(a);

  // Nested for loop that initializes x and y pixels and, for those less than the
  // maximum threshold and at every skiping point, the offset is caculated to map
  // them on a plane instead of just a line
  for (int x = 0; x < kinect.width; x += skip) {
    for (int y = 0; y < kinect.height; y += skip) {
      int offset = x + y*kinect.width;

      // Convert kinect data to world xyz coordinate
      int rawDepth = depth[offset];
      PVector v = depthToWorld(x, y, rawDepth);

      stroke(255);
      pushMatrix();
      // Scale up by 200
      float factor = 200;
      translate(v.x*factor, v.y*factor, factor-v.z*factor);
      // Draw a point
      point(0, 0);
      popMatrix();
    }
  }

  // Rotate
  a += 0.015f;
}

// These functions come from: http://graphics.stanford.edu/~mdfisher/Kinect.html
float rawDepthToMeters(int depthValue) {
  if (depthValue < 2047) {
    return (float)(1.0 / ((double)(depthValue) * -0.0030711016 + 3.3309495161));
  }
  return 0.0f;
}

// Only needed to make sense of the ouput depth values from the kinect
PVector depthToWorld(int x, int y, int depthValue) {

  final double fx_d = 1.0 / 5.9421434211923247e+02;
  final double fy_d = 1.0 / 5.9104053696870778e+02;
  final double cx_d = 3.3930780975300314e+02;
  final double cy_d = 2.4273913761751615e+02;

// Drawing the result vector to give each point its three-dimensional space
  PVector result = new PVector();
  double depth =  depthLookUp[depthValue];//rawDepthToMeters(depthValue);
  result.x = (float)((x - cx_d) * depth * fx_d);
  result.y = (float)((y - cy_d) * depth * fy_d);
  result.z = (float)(depth);
  return result;
}