ffmpeg - 使用 libfreenect 使用 kinect 捕获视频

Question

我正在尝试使用 kinect 捕捉视频以进行视频/图像处理我发现 libfreenect/build/bin 文件夹中有一个名为 fakenect-record 的脚本可以为我做这个

当我使用它时，它开始以 ppm 和 pgm 格式(均为图像)捕获 rgb 和深度数据，并且它还有一个选项 (-ffmpeg) 女巫制作视频的 avi 文件，但问题是当我这样做时它失败并显示此错误:

Depth Mode: {256, 1, {0}, 614400, 640, 480, 11, 5, 30, 1}
Video Mode: {256, 1, {0}, 921600, 640, 480, 24, 0, 30, 1}
[Stream 70] Expected 1748 data bytes, but got 948
ffmpeg -pix_fmt rgb24 -s 640x480 -f rawvideo -i /dev/stdin -aspect 4:3 -r 20 -vcodec msmpeg4 -b 30000k sadra-depth.avi
ffmpeg -pix_fmt rgb24 -s 640x480 -f rawvideo -i /dev/stdin -aspect 4:3 -r 20 -vcodec msmpeg4 -b 30000k sadra-rgb.avi
ffmpeg version N-76045-g97be5d4ffmpeg version N-76045-g97be5d4 Copyright (c) 2000-2015 the FFmpeg developers Copyright (c) 2000-2015 the FFmpeg developers

  built with gcc 4.8 (Ubuntu 4.8.4-2ubuntu1~14.04)
  configuration: --extra-libs=-ldl --prefix=/opt/ffmpeg --enable-avresample --disable-debug --enable-nonfree --enable-gpl --enable-version3 --enable-libopencore-amrnb --enable-libopencore-amrwb --disable-decoder=amrnb --disable-decoder=amrwb --enable-libpulse --enable-libdcadec --enable-libfreetype --enable-libx264 --enable-libx265 --enable-libfdk-aac --enable-libvorbis --enable-libmp3lame --enable-libopus --enable-libvpx --enable-libspeex --enable-libass --enable-avisynth --enable-libsoxr --enable-libxvid --enable-libvo-aacenc --enable-libvidstab
  built with gcc 4.8 (Ubuntu 4.8.4-2ubuntu1~14.04)
  configuration: --extra-libs=-ldl --prefix=/opt/ffmpeg --enable-avresample --disable-debug --enable-nonfree --enable-gpl --enable-version3 --enable-libopencore-amrnb --enable-libopencore-amrwb --disable-decoder=amrnb --disable-decoder=amrwb --enable-libpulse --enable-libdcadec --enable-libfreetype --enable-libx264 --enable-libx265 --enable-libfdk-aac --enable-libvorbis --enable-libmp3lame --enable-libopus --enable-libvpx --enable-libspeex --enable-libass --enable-avisynth --enable-libsoxr --enable-libxvid --enable-libvo-aacenc --enable-libvidstab
  libavutil      55.  4.100 / 55.  4.100
  libavutil      55.  4.100 / 55.  4.100
  libavcodec     57.  6.100 / 57.  6.100
  libavcodec     57.  6.100 / 57.  6.100
  libavformat    57.  4.100 / 57.  4.100
  libavformat    57.  4.100 / 57.  4.100
  libavdevice    57.  0.100 / 57.  0.100
  libavdevice    57.  0.100 / 57.  0.100
  libavfilter     6. 11.100 /  6. 11.100
  libavfilter     6. 11.100 /  6. 11.100
  libavresample   3.  0.  0 /  3.  0.  0
  libavresample   3.  0.  0 /  3.  0.  0
  libswscale      4.  0.100 /  4.  0.100
  libswresample   2.  0.100 /  2.  0.100
  libswscale      4.  0.100 /  4.  0.100
  libpostproc    54.  0.100 / 54.  0.100
  libswresample   2.  0.100 /  2.  0.100
  libpostproc    54.  0.100 / 54.  0.100
Segmentation fault (core dumped)
root@thispc-sns:~/Documents/libfreenect/build/bin/Untitled Folder# Input #0, rawvideo, from '/dev/stdin':
  Duration: N/A, bitrate: 184320 kb/s
    Stream #0:0: Video: rawvideo (RGB[24] / 0x18424752), rgb24, 640x480, 184320 kb/s, 25 tbr, 25 tbn, 25 tbc
Please use -b:a or -b:v, -b is ambiguous
Input #0, rawvideo, from '/dev/stdin':
  Duration: N/A, start: 0.000000, bitrate: 184320 kb/s
    Stream #0:0: Video: rawvideo (RGB[24] / 0x18424752), rgb24, 640x480, 184320 kb/s, 25 tbr, 25 tbn, 25 tbc
Please use -b:a or -b:v, -b is ambiguous
Output #0, avi, to 'sadra-depth.avi':
Output #0, avi, to 'sadra-rgb.avi':
  Metadata:
    ISFT            :   Metadata:
    ISFT            : Lavf57.4.100Lavf57.4.100

    Stream #0:0    Stream #0:0: Video: msmpeg4v3 (msmpeg4) (MP43 / 0x3334504D), yuv420p, 640x480 [SAR 1:1 DAR 4:3], q=2-31, 30000 kb/s: Video: msmpeg4v3 (msmpeg4) (MP43 / 0x3334504D), yuv420p, 640x480 [SAR 1:1 DAR 4:3], q=2-31, 30000 kb/s, , 20 fps, 20 fps, 20 tbn, 20 tbn, 20 tbc20 tbc

    Metadata:
    Metadata:
      encoder         : Lavc57.6.100 msmpeg4      encoder         : Lavc57.6.100 msmpeg4
Stream mapping:

  Stream #0:0 -> #0:0Stream mapping:
  Stream #0:0 -> #0:0 (rawvideo (native) -> msmpeg4v3 (msmpeg4))
 (rawvideo (native) -> msmpeg4v3 (msmpeg4))
***[rawvideo @ 0x2a31ce0] Invalid buffer size, packet size 483328 < expected frame_size 921600
Error while decoding stream #0:0: Invalid argument
frame=    0 fps=0.0 q=0.0 Lsize=       6kB time=00:00:00.00*** bitrate=N/A    
video:0kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: unknown
Output file is empty, nothing was encoded (check -ss / -t / -frames parameters if used)
frame=    0 fps=0.0 q=0.0 Lsize=       6kB time=00:00:00.00 bitrate=N/A    
video:0kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: unknown
Output file is empty, nothing was encoded (check -ss / -t / -frames parameters if used)
Conversion failed!

Answer 1

如果您还安装了 opencv，请在您的计算机上运行以下脚本:

import freenect
import cv2
import numpy as np
from functions import *

def nothing(x):
    pass   
kernel = np.ones((5, 5), np.uint8)     

def pretty_depth(depth):
    np.clip(depth, 0, 2**10 - 1, depth)
    depth >>= 2
    depth = depth.astype(np.uint8)
    return depth

while 1:

    dst = pretty_depth(freenect.sync_get_depth()[0])#input from kinect
    cv2.imshow('Video', dst)
    if cv2.waitKey(1) & 0xFF == ord('b'):
        break

你看到你的 kinect 的视差图了吗？