獲取其他對象的深度的Kinect

Question

我在Kinect的編程新手，我是在一個球的加工利用Kinect的跟蹤和opencv..we都知道Kinect的提供深度數據，並與下面的代碼：

DepthImagePoint righthandDepthPoint = 
    sensor.CoordinateMapper.MapSkeletonPointToDepthPoint 
    (
     me.Joints[JointType.HandRight].Position, 
     DepthImageFormat.Resolution640x480Fps30 
    ); 

double rightdepthmeters = (righthandDepthPoint.Depth); 

使用這種

，我能得到一個右手的深度，通過specifing的jointtype使用功能MapSkeletonPointToDepthPoint() ..

是否有可能像凡在指定讓其他對象的深度？ 給定的座標..我想獲得在該座標中的對象的深度？

Answer 1

從Kinect SDK中提取深度數據可以從DepthImagePixel結構中提取。

下面的示例代碼循環遍歷整個DepthImageFrame來檢查每個像素。如果您希望查看特定座標，請刪除for循環，並將x和y設置爲特定值。

// global variables 

private const DepthImageFormat DepthFormat = DepthImageFormat.Resolution320x240Fps30; 
private const ColorImageFormat ColorFormat = ColorImageFormat.RgbResolution640x480Fps30; 

private DepthImagePixel[] depthPixels; 

// defined in an initialization function 

this.depthWidth = this.sensor.DepthStream.FrameWidth; 
this.depthHeight = this.sensor.DepthStream.FrameHeight; 

this.depthPixels = new DepthImagePixel[this.sensor.DepthStream.FramePixelDataLength]; 

private void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e) 
{ 
    if (null == this.sensor) 
     return; 

    bool depthReceived = false; 

    using (DepthImageFrame depthFrame = e.OpenDepthImageFrame()) 
    { 
     if (null != depthFrame) 
     { 
      // Copy the pixel data from the image to a temporary array 
      depthFrame.CopyDepthImagePixelDataTo(this.depthPixels); 

      depthReceived = true; 
     } 
    } 

    if (true == depthReceived) 
    { 
     // loop over each row and column of the depth 
     for (int y = 0; y < this.depthHeight; ++y) 
     { 
      for (int x = 0; x < this.depthWidth; ++x) 
      { 
       // calculate index into depth array 
       int depthIndex = x + (y * this.depthWidth); 

       // extract the given index 
       DepthImagePixel depthPixel = this.depthPixels[depthIndex]; 

       Debug.WriteLine("Depth at [" + x + ", " + y + "] is: " + depthPixel.Depth); 
      } 
     } 
    } 
}