比较深度彩色图像 [英] compare depth-color image
本文介绍了比较深度彩色图像的处理方法，对大家解决问题具有一定的参考价值，需要的朋友们下面随着小编来一起学习吧！
问题描述
大家好，我想比较C＃中深度和彩色相机渲染的数据流，并将它们一起返回到图像中（点云类......就像depthwithcolor c ++示例），这是我的代码。它会打开窗户然后它会粉碎..任何帮助??
      private void SensorAllFramesReady（object sender，AllFramesReadyEventArgs e）
      {
         使用（DepthImageFrame depthFrame = e.OpenDepthImageFrame（））
         使用（ColorImageFrame colorFrame = e.OpenColorImageFrame（））
          {
              OutputImage = new WriteableBitmap（depthFrame.Width，depthFrame.Height，96,96，PixelFormats.Bgr32，null）;
           
              byte [] colorPixels = new byte [colorFrame.PixelDataLength];
              short [] depthPixels = new short [depthFrame.PixelDataLength];
              byte [] output = new byte [sensor.DepthStream.FramePixelDataLength * sizeof（int）];
              int outputIndex = 0;
              if（depthFrame！= null&& colorFrame！= null）
              {
                  depthFrame.CopyPixelDataTo（depthPixels）;
                  colorFrame.CopyPixelDataTo（colorPixels）;
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; for（int y = 0; y< depthFrame.Height; y ++）
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; {
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; for（int x = 0; x< depthFrame.Width; x ++）
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; {
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; var depthIndex = x +（y * depthFrame.Width）;
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; var playerIndex = depthPixels [depthIndex]& DepthImageFrame.PlayerIndexBitmask;
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; var colorPoint = sensor.MapDepthToColorImagePoint（depthFrame.Format，x，y，depthPixels [depthIndex]，colorFrame.Format）;
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; var colorPixelIndex =（colorPoint.X * colorFrame.BytesPerPixel）+（colorPoint.Y * colorFrame.BytesPerPixel * colorFrame.Width）;
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; output [outputIndex] = colorPixels [colorPixelIndex + 0];
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP;输出[outputIndex + 1] = colorPixels [colorPixelIndex + 1];
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP;输出[outputIndex + 2] = colorPixels [colorPixelIndex + 2];
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; output [outputIndex + 3] = playerIndex> 0？ （字节）255 :(字节）0;
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; ++ outputIndex;
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; }¥b $ b &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; }
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; OutputImage.WritePixels（new Int32Rect（0,0，depthFrame.Width，depthFrame.Height），output，depthFrame.Width * depthFrame.BytesPerPixel，0）;
; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; Image.Source = OutputImage;
&NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; }¥b $ b &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; }¥b $ b &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP;
&NBSP; &NBSP; &NBSP; }&NBSP;
解决方案
什么异常（以及哪一行）崩溃？
我看到的一个错误（虽然我不认为它会导致崩溃），但++ outputIndex可能应该是outputIndex + = 4。
I还建议不要多次调用MapDepthToColorImagePoint ......这可能会非常慢。相反，你应该考虑每帧只调用一次MapDepthFrameToColorFrame。
John
K4W Dev
hello people, I want to compare the data streams rendered by depth and color camera in C# and return them together in an images (sort of point cloud.. like depthwithcolor c++ sample), here is my code. it opens the window but then it crush.. any help??
private void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e){
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
OutputImage = new WriteableBitmap(depthFrame.Width, depthFrame.Height, 96, 96, PixelFormats.Bgr32, null);
byte[] colorPixels = new byte[colorFrame.PixelDataLength];
short[] depthPixels = new short[depthFrame.PixelDataLength];
byte[] output = new byte[sensor.DepthStream.FramePixelDataLength * sizeof(int)];
int outputIndex = 0;
if (depthFrame != null && colorFrame != null)
{
depthFrame.CopyPixelDataTo(depthPixels);
colorFrame.CopyPixelDataTo(colorPixels);
for (int y = 0; y < depthFrame.Height; y++)
{
for (int x = 0; x < depthFrame.Width; x++)
{
var depthIndex = x + (y * depthFrame.Width);
var playerIndex = depthPixels[depthIndex] & DepthImageFrame.PlayerIndexBitmask;
var colorPoint = sensor.MapDepthToColorImagePoint(depthFrame.Format, x, y, depthPixels[depthIndex], colorFrame.Format);
var colorPixelIndex= (colorPoint.X*colorFrame.BytesPerPixel)+(colorPoint.Y*colorFrame.BytesPerPixel*colorFrame.Width);
output[outputIndex] = colorPixels[colorPixelIndex + 0];
output[outputIndex + 1] = colorPixels[colorPixelIndex + 1];
output[outputIndex + 2] = colorPixels[colorPixelIndex + 2];
output[outputIndex + 3] = playerIndex > 0 ? (byte)255 : (byte)0;
++outputIndex;
}
}
OutputImage.WritePixels(new Int32Rect(0, 0, depthFrame.Width, depthFrame.Height),output,depthFrame.Width * depthFrame.BytesPerPixel,0);
Image.Source = OutputImage;
}
}
}
解决方案
With what exception (and on which line) does it crash?
One bug I see (though I don't think it would be causing a crash), is that ++outputIndex should probably be outputIndex += 4 instead.
I'd also recommend not calling MapDepthToColorImagePoint so many times... this is likely to be very slow. Instead, you should consider calling MapDepthFrameToColorFrame just once per frame.
John
K4W Dev
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