Ddylen
commented
4 years ago I'm no expert but I suspect you are initialising your kinect incorrectly. In any case, I have code for saving colour and depth data that might be useful in resolving your issue:
import numpy as np
import cv2
import pickle
import time
import datetime
from pykinect2 import PyKinectV2
from pykinect2.PyKinectV2 import *
from pykinect2 import PyKinectRuntime
def save_frames(FILE_NAME):
#records and saves colour and depth frames from the Kinect
print("Saving colour and depth frames")
# define file names
depthfilename = "DEPTH." + FILE_NAME +".pickle"
colourfilename = "COLOUR." + FILE_NAME +".pickle"
depthfile = open(depthfilename, 'wb')
colourfile = open(colourfilename, 'wb')
#initialise kinect recording, and some time variables for tracking the framerate of the recordings
kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Color | PyKinectV2.FrameSourceTypes_Depth)
starttime = time.time()
oldtime = 0
i = 0
fpsmax = 0
fpsmin = 100
display_type = "COLOUR"
#display_type = "DEPTH"
# Actual recording loop, exit by pressing escape to close the pop-up window
while True:
if kinect.has_new_depth_frame() and kinect.has_new_color_frame() :
elapsedtime = time.time()- starttime
if(elapsedtime> i/10):
#Only for high i try evalutaing FPS or else you get some divide by 0 errors
if i >10:
try:
fps = 1/(elapsedtime - oldtime)
print(fps)
if fps> fpsmax:
fpsmax= fps
if fps < fpsmin:
fpsmin = fps
except ZeroDivisionError:
print("Divide by zero error")
pass
oldtime = elapsedtime
#read kinect colour and depth data (somehow the two formats below differ, think one is and one isnt ctypes)
depthframe = kinect.get_last_depth_frame() #data for display
depthframeD = kinect._depth_frame_data
colourframe = kinect.get_last_color_frame()
colourframeD = kinect._color_frame_data
#convert depth frame from ctypes to an array so that I can save it
depthframesaveformat = np.copy(np.ctypeslib.as_array(depthframeD, shape=(kinect._depth_frame_data_capacity.value,))) # TODO FIgure out how to solve intermittent up to 3cm differences
pickle.dump(depthframesaveformat, depthfile)
#reformat the other depth frame format for it to be displayed on screen
depthframe = depthframe.astype(np.uint8)
depthframe = np.reshape(depthframe, (424, 512))
depthframe = cv2.cvtColor(depthframe, cv2.COLOR_GRAY2RGB)
#Reslice to remove every 4th colour value, which is superfluous
colourframe = np.reshape(colourframe, (2073600, 4))
colourframe = colourframe[:,0:3]
#extract then combine the RBG data
colourframeR = colourframe[:,0]
colourframeR = np.reshape(colourframeR, (1080, 1920))
colourframeG = colourframe[:,1]
colourframeG = np.reshape(colourframeG, (1080, 1920))
colourframeB = colourframe[:,2]
colourframeB = np.reshape(colourframeB, (1080, 1920))
framefullcolour = cv2.merge([colourframeR, colourframeG, colourframeB])
pickle.dump(framefullcolour, colourfile)
if display_type == "COLOUR":
#Show colour frames as they are recorded
cv2.imshow('Recording KINECT Video Stream', framefullcolour)
if display_type == "DEPTH":
#show depth frames as they are recorded
cv2.imshow('Recording KINECT Video Stream', depthframe)
i = i+1
#end recording if the escape key (key 27) is pressed
key = cv2.waitKey(1)
if key == 27: break
cv2.destroyAllWindows()
if __name__ == "__main__":
currentdate = datetime.datetime.now()
custom_name = input("Enter a file name: ")
file_name = custom_name + "." + str(currentdate.day) + "." + str(currentdate.month) + "."+ str(currentdate.hour) + "."+ str(currentdate.minute)
#Save colour and depth frames
save_frames(file_name)
JohnleeHIT
When i test the code, I want to save all three kinds of data(Color image, IR image and depth image), However, I can get the Color frame and the IR Frame, However, the Depth Frame is Null, Any idea why this happends? I use the following code to get those frames and the depth_frame is null while others can get the data.