Java:opencv 和 openni

Question

我想知道是否有人能够在 java 中将 openni 与 opencv 结合使用？例如，您在 IplImage 等中获得深度流……我目前正在尝试这样做，但我不确定从哪里开始。

如果任何完成此操作的人想要分享他们的知识或一些代码，我将不胜感激。

到目前为止我的代码:

/

*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.


/**
 *
 * @author olivierjanssens
 */

package kitouch;

import com.googlecode.javacpp.Loader;
import com.googlecode.javacv.*;
import com.googlecode.javacv.cpp.*;
import static com.googlecode.javacv.cpp.opencv_core.*;
import static com.googlecode.javacv.cpp.opencv_imgproc.*;
import static com.googlecode.javacv.cpp.opencv_calib3d.*;
import static com.googlecode.javacv.cpp.opencv_objdetect.*;
import java.nio.ShortBuffer;
import java.awt.*;
import java.awt.image.*;
import org.OpenNI.*;
import javax.swing.JFrame;

public class KiTouch {

    private Context context;
    private final String SAMPLE_XML_FILE = "/Users/olivierjanssens/Development/Kinect/OpenNI/Samples/Config/SamplesConfig.xml";    
    private OutArg<ScriptNode> scriptNode;
    private DepthGenerator depthGen;
    private BufferedImage bimg;
     int width, height;
    IplImage depthImage;
    private float histogram[];
     private byte[] imgbytes;
    CanvasFrame frame = new CanvasFrame("Some Title");

    public KiTouch() {
        try {
            scriptNode = new OutArg<ScriptNode>();
            context = Context.createFromXmlFile(SAMPLE_XML_FILE, scriptNode);

            depthGen = DepthGenerator.create(context);
            DepthMetaData depthMD = depthGen.getMetaData();

            histogram = new float[10000];
            width = depthMD.getFullXRes();
            height = depthMD.getFullYRes();

            imgbytes = new byte[width*height];

            DataBufferByte dataBuffer = new DataBufferByte(imgbytes, width*height);
            Raster raster = Raster.createPackedRaster(dataBuffer, width, height, 8, null);
            bimg = new BufferedImage(width, height, BufferedImage.TYPE_BYTE_GRAY);
            bimg.setData(raster);
            depthImage = IplImage.create(width, height, IPL_DEPTH_8U, 1);

        } catch (GeneralException e) {
            e.printStackTrace();
            System.exit(1);
        }


    }


    private void calcHist(DepthMetaData depthMD)
    {
        // reset
        for (int i = 0; i < histogram.length; ++i)
            histogram[i] = 0;

        ShortBuffer depth = depthMD.getData().createShortBuffer();
        depth.rewind();

        int points = 0;
        while(depth.remaining() > 0)
        {
            short depthVal = depth.get();
            if (depthVal != 0)
            {
                histogram[depthVal]++;
                points++;
            }
        }

        for (int i = 1; i < histogram.length; i++)
        {
            histogram[i] += histogram[i-1];
        }

        if (points > 0)
        {
            for (int i = 1; i < histogram.length; i++)
            {
                histogram[i] = (int)(256 * (1.0f - (histogram[i] / (float)points)));
            }
        }
    }

    public Dimension getPreferredSize() {
        return new Dimension(width, height);
    }

     void updateDepth()
    {
        try {
            DepthMetaData depthMD = depthGen.getMetaData();

            context.waitAnyUpdateAll();

            calcHist(depthMD);
            ShortBuffer depth = depthMD.getData().createShortBuffer();
            depth.rewind();

            while(depth.remaining() > 0)
            {
                int pos = depth.position();
                short pixel = depth.get();
                imgbytes[pos] = (byte)histogram[pixel];
            }
            depthImage.createFrom(bimg);
            frame.showImage(depthImage);

        } catch (GeneralException e) {
            e.printStackTrace();
        }
    }


}

并调用此代码:

/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */
package kitouch;

import org.OpenNI.GeneralException;

/**
 *
 * @author olivierjanssens
 */
public class kiTouchApp {
     public static void main(String s[]) throws GeneralException {
         KiTouch kit = new KiTouch();


          while(true) {
            kit.updateDepth();
        }
    }
}

虽然我得到一个黑框。所以还不行

当我不像这里那样初始化 IplImage 而只是 IplImage depthImage = new IplImage();我得到这个错误:

Exception in thread "main" java.lang.NullPointerException
at java.awt.image.BufferedImage.<init>(BufferedImage.java:613)
at com.googlecode.javacv.cpp.opencv_core$IplImage.getBufferedImage(opencv_core.java:1005)
at com.googlecode.javacv.cpp.opencv_core$IplImage.getBufferedImage(opencv_core.java:931)
at com.googlecode.javacv.CanvasFrame.showImage(CanvasFrame.java:331)
at kitouch.KiTouch.paint(KiTouch.java:138)
at kitouch.kiTouchApp.main(kiTouchApp.java:21)

提前致谢!

Answer 1

我确实玩过 OpenNI 和 Java，但使用的是 Processing以及可用的包装器( SimpleOpenNI 和 OpenCV )，目前可以满足我的适度需求。这是一个非常基本的示例:

import hypermedia.video.*;
import SimpleOpenNI.*;

SimpleOpenNI  ni;
OpenCV cv;
PImage user;
void setup()
{
  ni = new SimpleOpenNI(this);
  ni.enableScene();
  background(200,0,0);
  strokeWeight(4);
  size(ni.sceneWidth() , ni.sceneHeight()); 
  cv = new OpenCV( this );
  cv.allocate(width,height);
}
void draw()
{
  //OpenNI
  ni.update();
  user = ni.sceneImage(); 
  //OpenCV
  cv.copy(user);
  cv.blur( OpenCV.BLUR, 17 );
  Blob[] blobs = cv.blobs( width,height, OpenCV.MAX_VERTICES, true, OpenCV.MAX_VERTICES*4 );

  //diplay
  image(cv.image(),0,0);
  //*
  fill(255);
  for(Blob b : blobs){
    beginShape();
      for(java.awt.Point p : b.points) vertex(p.x,p.y);
    endShape(CLOSE);
  }
  //*/
}

请注意，此 OpenCV 包装器使用 OpenCV 1.0，您可能还想使用自己的 Java 类，而不是使用 Processing 库。在这种情况下尝试 JavaCV wrapper 。关于深度流，如果你查看 OpenNI 附带的 org.OpenNI.Samples.SimpleViewer 类，你会注意到来自 OpenNI 的深度字节被写入 BufferedImage，我想这可以是与OpenCV等集成

 public SimpleViewer() {

        try {
            scriptNode = new OutArg<ScriptNode>();
            context = Context.createFromXmlFile(SAMPLE_XML_FILE, scriptNode);

            depthGen = DepthGenerator.create(context);
            DepthMetaData depthMD = depthGen.getMetaData();

            histogram = new float[10000];
            width = depthMD.getFullXRes();
            height = depthMD.getFullYRes();

            imgbytes = new byte[width*height];

            DataBufferByte dataBuffer = new DataBufferByte(imgbytes, width*height);
            Raster raster = Raster.createPackedRaster(dataBuffer, width, height, 8, null);
            bimg = new BufferedImage(width, height, BufferedImage.TYPE_BYTE_GRAY);
            bimg.setData(raster);

        } catch (GeneralException e) {
            e.printStackTrace();
            System.exit(1);
        }
    }