我已经创建从Kinect的点群数据的每一帧保存到文本文件中，其中，该文件的每一行是一个点（或顶点）该超高动力学已注册处理草图。 我打算将数据拉成3D节目的可视化3D空间中的动画和应用各种效果。 问题是，当我这样做，第一帧似乎正确，和帧的其余部分似乎吐出什么样子的第一形象，再加上一堆随机噪声。 这是我的代码，将其全部。 它要求简单openni正常工作。 你可以看到评论
import SimpleOpenNI.*;
//import processing.opengl.*;
SimpleOpenNI context;
float zoomF =0.5f;
float rotX = radians(180); // by default rotate the hole scene 180deg around the x-axis,
float rotY = radians(0); // the data from openni comes upside down
int maxZ = 2000;
Vector <Object> recording = new Vector<Object>();
boolean isRecording = false;
boolean canDraw = true;
boolean mouseMode = false;
int currentFile = 0;
int depthWidth = 640; //MH - assuming this is static?
int depthHeight = 480;
int steps = 5;
int arrayLength = (depthWidth/steps) * (depthHeight/steps); //total lines in each output file
void setup()
{
size(1024,768,P3D); // strange, get drawing error in the cameraFrustum if i use P3D, in opengl there is no problem
//size(1024,768,OPENGL);
context = new SimpleOpenNI(this);
context.setMirror(true);
depthWidth = context.depthWidth();
depthHeight = context.depthHeight();
// enable depthMap generation
if(context.enableDepth() == false)
{
println("Can't open the depthMap, maybe the camera is not connected!");
exit();
return;
}
stroke(255,255,255);
smooth();
perspective(radians(45),
float(width)/float(height),
10.0f,150000.0f);
}
void draw()
{
//println(isRecording);
// update the cam
context.update();
background(0,0,0);
// set the scene pos
translate(width/2, height/2, 0);
rotateX(rotX);
rotateY(rotY);
scale(zoomF);
// draw the 3d point depth map
int[] depthMap = context.depthMap();
int index = 0;
PVector realWorldPoint;
PVector[] frame = new PVector[arrayLength];
translate(0,0,-1000); // set the rotation center of the scene 1000 infront of the camera
stroke(200);
for(int y=0;y < context.depthHeight();y+=steps)
{
for(int x=0;x < context.depthWidth();x+=steps)
{
int offset = x + y * context.depthWidth();
realWorldPoint = context.depthMapRealWorld()[offset];
if (isRecording == true){
if (realWorldPoint.z < maxZ){
frame[index] = realWorldPoint;
} else {
frame[index] = new PVector(-0.0,-0.0,0.0);
}
index++;
} else {
if (realWorldPoint.z < maxZ){
if (canDraw == true){
point(realWorldPoint.x,realWorldPoint.y,realWorldPoint.z);
}
}
}
}
}
if (isRecording == true){
recording.add(frame);
}
if (mouseMode == true){
float rotVal = map (mouseX,0,1024,-1,1); //comment these out to disable mouse orientation
float rotValX = map (mouseY,0,768,2,4);
rotY = rotVal;
rotX = rotValX;
}
}
// -----------------------------------------------------------------
// Keyboard event
void keyPressed()
{
switch(key)
{
case ' ':
context.setMirror(!context.mirror());
break;
case 'm':
mouseMode = !mouseMode;
break;
case 'r':
isRecording = !isRecording;
break;
case 's':
if (isRecording == true){
isRecording = false;
canDraw = false;
println("Stopped Recording");
Enumeration e = recording.elements();
int i = 0;
while (e.hasMoreElements()) {
// Create one directory
boolean success = (new File("out"+currentFile)).mkdir();
PrintWriter output = createWriter("out"+currentFile+"/frame" + i++ +".txt");
PVector [] frame = (PVector []) e.nextElement();
for (int j = 0; j < frame.length; j++) {
output.println(j + ", " + frame[j].x + ", " + frame[j].y + ", " + frame[j].z );
}
output.flush(); // Write the remaining data
output.close();
//exit();
}
canDraw = true;
println("done recording");
}
currentFile++;
break;
}
switch(keyCode)
{
case LEFT:
if(keyEvent.isShiftDown())
maxZ -= 100;
else
rotY += 0.1f;
break;
case RIGHT:
if(keyEvent.isShiftDown())
maxZ += 100;
else
rotY -= 0.1f;
break;
case UP:
if(keyEvent.isShiftDown())
zoomF += 0.01f;
else
rotX += 0.1f;
break;
case DOWN:
if(keyEvent.isShiftDown())
{
zoomF -= 0.01f;
if(zoomF < 0.01)
zoomF = 0.01;
}
else
rotX -= 0.1f;
break;
}
}
我想象环路是存在的问题开始出现，其中：对（INT Y = 0; Y <context.depthHeight（）; Y + =步）{等虽然它可能只是与Python脚本我写用于3D的一个问题程序。 无论如何，这是一个很酷的草图，我认为将是任何人想要做3D效果的点云数据（或建立模型等），超级有用，但我坚持的时刻。 谢谢你的帮助！
不幸的是我现在不能解释很多，但我曾根类似几个月前保存的东西PLY和CSV：
import processing.opengl.*;
import SimpleOpenNI.*;
SimpleOpenNI context;
float zoomF =0.5f;
float rotX = radians(180);
float rotY = radians(0);
boolean recording = false;
ArrayList<PVector> pts = new ArrayList<PVector>();//points for one frame
float minZ = 100,maxZ = 150;
void setup()
{
size(1024,768,OPENGL);
context = new SimpleOpenNI(this);
context.setMirror(false);
context.enableDepth();
context.enableScene();
stroke(255);
smooth();
perspective(95,float(width)/float(height), 10,150000);
}
void draw()
{
context.update();
background(0);
translate(width/2, height/2, 0);
rotateX(rotX);
rotateY(rotY);
scale(zoomF);
int[] depthMap = context.depthMap();
int[] sceneMap = context.sceneMap();
int steps = 10;
int index;
PVector realWorldPoint;
pts.clear();//reset points
translate(0,0,-1000);
//*
//stroke(100);
for(int y=0;y < context.depthHeight();y+=steps)
{
for(int x=0;x < context.depthWidth();x+=steps)
{
index = x + y * context.depthWidth();
if(depthMap[index] > 0)
{
realWorldPoint = context.depthMapRealWorld()[index];
if(realWorldPoint.z > minZ && realWorldPoint.z < maxZ){//if within range
stroke(0,255,0);
point(realWorldPoint.x,realWorldPoint.y,realWorldPoint.z);
pts.add(realWorldPoint.get());//store each point
}
}
}
}
if(recording){
savePLY(pts);//save to disk as PLY
saveCSV(pts);//save to disk as CSV
}
//*/
}
// -----------------------------------------------------------------
// Keyboard events
void keyPressed()
{
if(key == 'q') minZ += 10;
if(key == 'w') minZ -= 10;
if(key == 'a') maxZ += 10;
if(key == 's') maxZ -= 10;
switch(key)
{
case ' ':
context.setMirror(!context.mirror());
break;
case 'r':
recording = !recording;
break;
}
switch(keyCode)
{
case LEFT:
rotY += 0.1f;
break;
case RIGHT:
// zoom out
rotY -= 0.1f;
break;
case UP:
if(keyEvent.isShiftDown())
zoomF += 0.01f;
else
rotX += 0.1f;
break;
case DOWN:
if(keyEvent.isShiftDown())
{
zoomF -= 0.01f;
if(zoomF < 0.01)
zoomF = 0.01;
}
else
rotX -= 0.1f;
break;
}
}
void savePLY(ArrayList<PVector> pts){
String ply = "ply\n";
ply += "format ascii 1.0\n";
ply += "element vertex " + pts.size() + "\n";
ply += "property float x\n";
ply += "property float y\n";
ply += "property float z\n";
ply += "end_header\n";
for(PVector p : pts)ply += p.x + " " + p.y + " " + p.z + "\n";
saveStrings("frame_"+frameCount+".ply",ply.split("\n"));
}
void saveCSV(ArrayList<PVector> pts){
String csv = "x,y,z\n";
for(PVector p : pts) csv += p.x + "," + p.y + "," + p.z + "\n";
saveStrings("frame_"+frameCount+".csv",csv.split("\n"));
}
我使用if语句一定ž阈值之内，你认为合适仅保存了点，但随时改变/使用。 在后置处理的想法提醒莫林克斯视频卡塔利娜 。 检查出来，它是有据可查的，包括源代码。
更新张贴的代码节省了每帧1个文件。 即使播放速度会很低，素描还是应该保存每个框架文件。 该代码被简化了一下：
import processing.opengl.*;
import SimpleOpenNI.*;
SimpleOpenNI context;
float zoomF =0.5f;
float rotX = radians(180);
float rotY = radians(0);
boolean recording = false;
String csv;
void setup()
{
size(1024,768,OPENGL);
context = new SimpleOpenNI(this);
context.setMirror(false);
context.enableDepth();
stroke(255);
smooth();
perspective(95,float(width)/float(height), 10,150000);
}
void draw()
{
csv = "x,y,z\n";//reset csv for this frame
context.update();
background(0);
translate(width/2, height/2, 0);
rotateX(rotX);
rotateY(rotY);
scale(zoomF);
int[] depthMap = context.depthMap();
int[] sceneMap = context.sceneMap();
int steps = 10;
int index;
PVector realWorldPoint;
translate(0,0,-1000);
//*
beginShape(POINTS);
for(int y=0;y < context.depthHeight();y+=steps)
{
for(int x=0;x < context.depthWidth();x+=steps)
{
index = x + y * context.depthWidth();
if(depthMap[index] > 0)
{
realWorldPoint = context.depthMapRealWorld()[index];
vertex(realWorldPoint.x,realWorldPoint.y,realWorldPoint.z);
if(recording) csv += realWorldPoint.x + "," + realWorldPoint.y + "," + realWorldPoint.z + "\n";
}
}
}
endShape();
if(recording) saveStrings("frame_"+frameCount+".csv",csv.split("\n"));
frame.setTitle((int)frameRate + " fps");
//*/
}
// -----------------------------------------------------------------
// Keyboard events
void keyPressed()
{
switch(key)
{
case ' ':
context.setMirror(!context.mirror());
break;
case 'r':
recording = !recording;
break;
}
switch(keyCode)
{
case LEFT:
rotY += 0.1f;
break;
case RIGHT:
// zoom out
rotY -= 0.1f;
break;
case UP:
if(keyEvent.isShiftDown())
zoomF += 0.01f;
else
rotX += 0.1f;
break;
case DOWN:
if(keyEvent.isShiftDown())
{
zoomF -= 0.01f;
if(zoomF < 0.01)
zoomF = 0.01;
}
else
rotX -= 0.1f;
break;
}
}
预览可以从不同环的记录分开，你可以有一个低分辨率的预览，但保存更多的数据，不过，这将是缓慢的。
我有另一个建议：记录到.oni格式代替。 如果你已经安装OpenNI，你可以利用一对夫妇的样件的NiViewer和NiBackRecorder 。 SimpleOpenNI也暴露了这个功能，看看在RecorderPlay样品。
我建议尝试是这样的：
- 记录你的场景到.oni文件。 它应该是快/响应
- 当你与你.oni记录，处理每个帧感到快乐（根据需要转换深度为x，Y，Z点/滤波器/保存到所需的格式/等）
这里还有一个草图来说明这个想法：
import SimpleOpenNI.*;
SimpleOpenNI context;
boolean recordFlag = true;
int frames = 0;
void setup(){
context = new SimpleOpenNI(this);
if(! recordFlag){
if(! context.openFileRecording("test.oni") ){
println("can't find recording !!!!");
exit();
}
context.enableDepth();
}else{
// recording
context.enableDepth();
// setup the recording
context.enableRecorder(SimpleOpenNI.RECORD_MEDIUM_FILE,"test.oni");
// select the recording channels
context.addNodeToRecording(SimpleOpenNI.NODE_DEPTH,SimpleOpenNI.CODEC_16Z_EMB_TABLES);
}
// set window size
if((context.nodes() & SimpleOpenNI.NODE_DEPTH) != 0)
size(context.depthWidth() , context.depthHeight());
else
exit();
}
void draw()
{
background(0);
context.update();
if((context.nodes() & SimpleOpenNI.NODE_DEPTH) != 0) image(context.depthImage(),0,0);
if(recordFlag) frames++;
}
void keyPressed(){
if(key == ' '){
if(recordFlag){
saveStrings(dataPath("frames.txt"),split(frames+" ",' '));
exit();
}else saveONIToPLY();
}
}
void saveONIToPLY(){
frames = int(loadStrings(dataPath("frames.txt"))[0]);
println("recording " + frames + " frames");
int w = context.depthWidth();
int h = context.depthHeight();
noLoop();
for(int i = 0 ; i < frames; i++){
PrintWriter output = createWriter(dataPath("frame_"+i+".ply"));
output.println("ply");
output.println("format ascii 1.0");
output.println("element vertex " + (w*h));
output.println("property float x");
output.println("property float y");
output.println("property float z");
output.println("end_header\n");
context.update();
int[] depthMap = context.depthMap();
int index;
PVector realWorldPoint;
for(int y=0;y < h;y++){
for(int x=0;x < w;x++){
index = x + y * w;
realWorldPoint = context.depthMapRealWorld()[index];
output.println(realWorldPoint.x + " " + realWorldPoint.y + " " + realWorldPoint.z);
}
}
output.flush();
output.close();
println("saved " + (i+1) + " of " + frames);
}
loop();
println("recorded " + frames + " frames");
}
当recordFlag设置为true，数据将被保存到一个文件.oni。 我还没有发现任何在文档阅读多少帧有在.oni文件，以便快速解决方法我已经添加了frame计数器。 如果你打的空间，停止记录，但也将保存在一个txt文件的帧数，然后退出程序。 这将是有益以后。
当recordFlag设置为false，如果有一个记录已，它会播放。 如果你打这个“模式”空间，绘制将停止，画面编号将从.txt文件，并为每一帧负载：
- 上下文将被更新（移动到下一个帧）
- 在深度图中的每个像素将被转换为一个点
- 所有的点会被写入到.ply文件（可以用处理meshlab ）
所有帧被保存后，草图将恢复绘图。 由于没有3D绘图和草图是相当简单的，表现应该会更好，但裸记住，大.oni文件将需要大量的RAM。 随意修改草图，以您的需求（例如，过滤掉你不希望保存的信息等）。
还要注意的是，以上，虽然保存应与PLY每个单独的框架，这样可以节省相同。 看来当noLoop（）被调用的背景下不更新（）。 下面是一个使用一个三分修改哈克版本。 延迟（希望的.ply并祝将由然后写入磁盘）。
import SimpleOpenNI.*;
SimpleOpenNI context;
boolean recordFlag = false;
boolean saving = false;
int frames = 0;
int savedFrames = 0;
void setup(){
context = new SimpleOpenNI(this);
if(! recordFlag){
if(! context.openFileRecording("test.oni") ){
println("can't find recording !!!!");
exit();
}
context.enableDepth();
}else{
// recording
context.enableDepth();
// setup the recording
context.enableRecorder(SimpleOpenNI.RECORD_MEDIUM_FILE,"test.oni");
// select the recording channels
context.addNodeToRecording(SimpleOpenNI.NODE_DEPTH,SimpleOpenNI.CODEC_16Z_EMB_TABLES);
}
// set window size
if((context.nodes() & SimpleOpenNI.NODE_DEPTH) != 0)
size(context.depthWidth() , context.depthHeight());
else
exit();
}
void draw()
{
background(0);
context.update();
if((context.nodes() & SimpleOpenNI.NODE_DEPTH) != 0) image(context.depthImage(),0,0);
if(recordFlag) frames++;
if(saving && savedFrames < frames){
delay(3000);//hack
int i = savedFrames;
int w = context.depthWidth();
int h = context.depthHeight();
PrintWriter output = createWriter(dataPath("frame_"+i+".ply"));
output.println("ply");
output.println("format ascii 1.0");
output.println("element vertex " + (w*h));
output.println("property float x");
output.println("property float y");
output.println("property float z");
output.println("end_header\n");
rect(random(width),random(height),100,100);
int[] depthMap = context.depthMap();
int index;
PVector realWorldPoint;
for(int y=0;y < h;y++){
for(int x=0;x < w;x++){
index = x + y * w;
realWorldPoint = context.depthMapRealWorld()[index];
output.println(realWorldPoint.x + " " + realWorldPoint.y + " " + realWorldPoint.z);
}
}
output.flush();
output.close();
println("saved " + (i+1) + " of " + frames);
savedFrames++;
}
}
void keyPressed(){
if(key == ' '){
if(recordFlag){
saveStrings(dataPath("frames.txt"),split(frames+" ",' '));
exit();
}else saveONIToPLY();
}
}
void saveONIToPLY(){
frames = int(loadStrings(dataPath("frames.txt"))[0]);
saving = true;
println("recording " + frames + " frames");
}
我不知道帧和文件同步和深度数据被保存在中等画质下，但我希望我的回答提供了一些思路。
文章来源: kinect/ processing / simple openni - point cloud data not being output properly
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