pykinect2 从单个像素 KinectV2 中提取深度数据

Question

我正在尝试从用鼠标单击的像素中提取深度数据。当我打印 X，Y 坐标时它有效。当我尝试打印像素深度数据时，它不起作用。我尝试使用的代码是从如何提取点击像素的 RGB 值修改而来的。我遇到的问题是如何解析要打印的深度数据。当我运行这个时，我得到类型错误："NoneType"对象不可下标有什么想法吗？

这是代码：

kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Depth)
while True:
    # --- Getting frames and drawing
    if kinect.has_new_depth_frame():
        frame = kinect.get_last_depth_frame()
        frameD = kinect.get_last_depth_frame()
        frameD = kinect._depth_frame_data
        #frameD = frame.astype(np.uint8)
        frame = frame.astype(np.uint8)
        frame = np.reshape(frame, (424, 512))
        output = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
        def click_event(event, x, y, flags, param):
            if event == cv2.EVENT_LBUTTONDOWN:
                print(x, y)
            if event == cv2.EVENT_RBUTTONDOWN:
                Pixel_Depth = output[x, y , 1]
                print(Pixel_Depth)
        #output = cv2.bilateralFilter(output, 1, 150, 75)
        cv2.imshow('KINECT Video Stream', output)
        cv2.setMouseCallback('KINECT Video Stream', click_event)
        output = None
    key = cv2.waitKey(1)

Answer 1

为了让它工作，我必须指定像素数而不是"frameD = kinect._depth_frame_data"的 x，y 坐标

这是代码：

rom pykinect2 import PyKinectV2
from pykinect2.PyKinectV2 import *
from pykinect2 import PyKinectRuntime
import numpy as np
import cv2
kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Depth)
while True:
    # --- Getting frames and drawing
    if kinect.has_new_depth_frame():
        frame = kinect.get_last_depth_frame()
        frameD = kinect._depth_frame_data
        frame = frame.astype(np.uint8)
        frame = np.reshape(frame, (424, 512))
        frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2RGB)
        def click_event(event, x, y, flags, param):
            if event == cv2.EVENT_LBUTTONDOWN:
                print(x, y)
            if event == cv2.EVENT_RBUTTONDOWN:
                Pixel_Depth = frameD[((y * 512) + x)]
                print(Pixel_Depth)
        ##output = cv2.bilateralFilter(output, 1, 150, 75)
        cv2.imshow('KINECT Video Stream', frame)
        cv2.setMouseCallback('KINECT Video Stream', click_event)
        output = None
    key = cv2.waitKey(1)
    if key == 27: break