pykinect2从单个像素KinectV2中提取深度数据

Question

我试图从用鼠标点击的像素中提取深度数据。当我打印X，Y坐标时，它就起作用了。当我试图打印像素深度数据时，它不起作用。我试图使用的代码是从如何为点击的像素提取RGB值的修改而来的。我面临的问题是如何解析出要打印的深度数据。当我运行这个时，我得到了TypeError:'NoneType'对象不可订阅 有什么想法吗？在

代码如下：

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.\u depth_frame_data”的x，y坐标

代码如下：

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