Comments (18)
i can use function pcl.visualize() for
pcl = Cloud(file='models/test_cloud_4.txt'). Maybe i will try with your open3D version
from pykinect2-mapper-functions.
I have used this open3d version:
0.10.0.1
try:
pip uninstall open3d
and then:
pip install open3d==0.10.0.1
from pykinect2-mapper-functions.
I did this because the z coordinate for Kinect is the distance from Kinect to the object and the Y coordinate is the distance of the object from the ground to the Kinect. I always had the Z coordinate as the distance from the floor so I swapped the values to suit me better.
from pykinect2-mapper-functions.
if i use
img = color_2_depth_space(kinect, _ColorSpacePoint, kinect._depth_frame_data, show=False, return_aligned_image=True)
i still see 30fps.
could the issue be due to resolution?
from pykinect2-mapper-functions.
Unfortunately, I do not have a Kinect Device anymore to test it, but I do believe that the reason the function is slow is that I perform some operations that are only needed when you pass the show = True flag. The only reason I have put that flag is to test how the aligned image shows, but it slows down the performance by a lot. I suggest no to use the show = True, and only call this function to get the points and then decide on how you want to display them.
I will push some changes in a moment that make some computations happen only when show is True.
from pykinect2-mapper-functions.
Can you pull the changes and try again to see if you can see a drop in fps, but do not pass the show flag?
from pykinect2-mapper-functions.
hello i use this code below but terminal has a problem " "depth_2_color_space" is not defined" although i did import mapper library.
import mapper
from pykinect2 import PyKinectV2
from pykinect2.PyKinectV2 import *
from pykinect2 import PyKinectRuntime
import cv2
import numpy as np
if name == 'main':
kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Depth | PyKinectV2.FrameSourceTypes_Color)
while True:
if kinect.has_new_depth_frame():
color_frame = kinect.get_last_color_frame()
colorImage = color_frame.reshape((kinect.color_frame_desc.Height, kinect.color_frame_desc.Width, 4)).astype(np.uint8)
colorImage = cv2.flip(colorImage, 1)
cv2.imshow('Test Color View', cv2.resize(colorImage, (int(1920 / 2.5), int(1080 / 2.5))))
depth_frame = kinect.get_last_depth_frame()
depth_img = depth_frame.reshape((kinect.depth_frame_desc.Height, kinect.depth_frame_desc.Width)).astype(np.uint8)
depth_img = cv2.flip(depth_img, 1)
cv2.imshow('Test Depth View', depth_img)
# print(color_point_2_depth_point(kinect, _DepthSpacePoint, kinect._depth_frame_data, [100, 100]))
# print(depth_points_2_world_points(kinect, _DepthSpacePoint, [[100, 150], [200, 250]]))
# print(intrinsics(kinect).FocalLengthX, intrinsics(kinect).FocalLengthY, intrinsics(kinect).PrincipalPointX, intrinsics(kinect).PrincipalPointY)
# print(intrinsics(kinect).RadialDistortionFourthOrder, intrinsics(kinect).RadialDistortionSecondOrder, intrinsics(kinect).RadialDistortionSixthOrder)
# print(world_point_2_depth(kinect, _CameraSpacePoint, [0.250, 0.325, 1]))
# img = depth_2_color_space(kinect, _DepthSpacePoint, kinect._depth_frame_data, show=False, return_aligned_image=True)
depth_2_color_space(kinect, _DepthSpacePoint, kinect._depth_frame_data, show=True)
# img = color_2_depth_space(kinect, _ColorSpacePoint, kinect._depth_frame_data, show=True, return_aligned_image=True)
# Quit using q
if cv2.waitKey(1) & 0xff == ord('q'):
break
cv2.destroyAllWindows()
from pykinect2-mapper-functions.
try importing like this:
from mapper import *
from pykinect2-mapper-functions.
oh i have a problem with my code and i fixed it, thank you so much your source code is very useful.
I wonder that if there is any source code about processing pointcloud by usung KinectV2, or something related about pointcloud using KinectV2. If you have this please share me, please.
By the way, thank you so much!
from pykinect2-mapper-functions.
@dongtamlx18 I have another repo that I use mapper to draw real time (30fps) point clouds with color and depth simultaneously:
https://github.com/KonstantinosAng/PyKinect2-PyQtGraph-PointClouds
from pykinect2-mapper-functions.
You are amazing but i have a problem when i test your code. I don't know why is this happen?
from PointCloud import Cloud
pcl = Cloud(file='models/model.pcd')
(I did download model.pcd and placed it into right folder)
and information about the error:
File "e:/2022 - Nam4 - HKII/ĐATN/PythonDA-newVS/RunTest.py", line 3, in
pcl = Cloud(file='models/model.pcd')
File "e:\2022 - Nam4 - HKII\ĐATN\PythonDA-newVS\PointCloud.py", line 116, in init
self.visualize_file()
File "e:\2022 - Nam4 - HKII\ĐATN\PythonDA-newVS\PointCloud.py", line 647, in visualize_file
vis = o3d.Visualizer() # start visualizer
AttributeError: module 'open3d' has no attribute 'Visualizer'
from pykinect2-mapper-functions.
Helllo sir, i scroll on Youtube and people said that Open3D lib does not support create pointcloud data, i do not know does it right or not so im here to ask you about that question. And could you help me to introduce me some technique that using KinectV2 to create pointcloud? Thank you so much!
Btw, I did read your code Pointcloud repository but i did not know too much, so I ask you here. Thank you!
from pykinect2-mapper-functions.
from pykinect2-mapper-functions.
First of all, about the Open3d:
I do not know if you can create a Pointcloud with open3d, I only use it to visualize Pointcloud files (.ply, .pcd) that I create manually in my Repository. If you see my code you will see that I get the world point from Kinect and I manually create the file using the basic structure of the (.ply, .pcd) file format.
Second, about the x, y, z coordinates:
Where exactly do I swap the values because I cannot find the function ?
from pykinect2-mapper-functions.
from pykinect2-mapper-functions.
from pykinect2-mapper-functions.
I think for image processing it is better to use OpenCV.
To compute the normal vector you have to find 3 points in the plane that you are looking for and to find the plane in the image can be difficult if the colors mix. Start looking for a way to first identify the tilted object in the image accurately.
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Related Issues (13)
- Typo in depth_img = depth_frame.reshape((kinect.depth_frame_desc.Height, kinect.depth_frame_desc.Width, 4)).astype(np.uint8) HOT 3
- when using color_point_2_depth_point, sometime an error will occur HOT 10
- when using function depth_point_2_world_point(), a problem will occur. HOT 3
- Mapping in the Original PyKinect HOT 2
- Canwe use mapper functions on already acquired images HOT 4
- Convertted depth image should be an uint16 array HOT 3
- What is the requirement of the Python Version? HOT 2
- About Aligned Image HOT 1
- About Mapper "color_2_depth_space" HOT 1
- Hello!Here is a question about 'color_2_depth_space'. HOT 1
- something wrong in depth map to color, it seems not accuracy HOT 1
- Related to 1.getting same values of pixel in entire columna and 2. frame resolution HOT 1
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