raspberry pi 上的 kinect 对象跟踪

Question

我正在 raspberry pi 上使用 kinect 进行对象跟踪。我混合了 2 个代码，因为我需要用 kinect 找到接近的对象，然后在这个过程跟踪灰色对象之后使用 OpenCV 过滤器设置灰色！但我不能！请帮助我

import freenect
import cv2
import numpy as np

"""
Grabs a depth map from the Kinect sensor and creates an image from it.
"""
def getDepthMap():  
depth, timestamp = freenect.sync_get_depth()

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

return depth

while True:
depth = getDepthMap()
#text_file = codecs.open("log2.txt", "a","utf-8-sig")
#text_file.write(str(depth)+'\n')

depth = getDepthMap()
blur = cv2.GaussianBlur(depth, (5, 5), 0)
cv2.imshow('image', blur)

此代码可以显示两种颜色的对象：黑色和白色黑色几乎是--- 我想将此代码混合到对象跟踪中。但是我不知道。

# find contours in the mask and initialize the current
# (x, y) center of the ball
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
    cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None

# only proceed if at least one contour was found
if len(cnts) > 0:
    # find the largest contour in the mask, then use
    # it to compute the minimum enclosing circle and
    # centroid
    c = max(cnts, key=cv2.contourArea)
    ((x, y), radius) = cv2.minEnclosingCircle(c)
    M = cv2.moments(c)
    center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))

    # only proceed if the radius meets a minimum size
    if radius > 10:
        # draw the circle and centroid on the frame,
        # then update the list of tracked points
        cv2.circle(frame, (int(x), int(y)), int(radius),
            (0, 255, 255), 2)
        cv2.circle(frame, center, 5, (0, 0, 255), -1)

# update the points queue
pts.appendleft(center)

http://www.pyimagesearch.com/2015/09/14/ball-tracking-with-opencv/

Answer 1

你的代码中的逻辑似乎是正确的。不过，我注意到了一些实施错误。

首先，您应该在 while True 之后缩进该块。您还应该添加对 waitKey() 的调用，这样 OpenCV 就不会卡在 imshow():

while True:
    depth = getDepthMap()
    blur = cv2.GaussianBlur(depth, (5, 5), 0)
    cv2.imshow('image', blur)
    cv2.waitKey(1)

最后，你应该将下一个块（mask）的输入与前一个块（blur）的输出相关联：

mask = blur

raspberry pi 上的 kinect 对象跟踪

Object tracking by kinect on raspberry pi

python

opencv

kinect