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Kinect / PyKinect2

Wrapper to expose Kinect for Windows v2 API in Python
MIT License
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How to get real time x,y,z coordinates of a detected object using opencv #89

Open 5av10 opened 3 years ago

5av10 commented 3 years ago

How do I extract the real time X,Y,Z coordinates of a detected blob? I am using opencv with cv2.SimpleBlobDetector_create() to detect and track the ball in the dept video but cannot manage to sample a point from the detected blob and get its x,y,z coordinates the code is:

    depth_colormap= cv2.applyColorMap(cv2.convertScaleAbs(depth_img, alpha=255/clipping_distance), cv2.COLORMAP_JET)
    g=cv2.cvtColor(dept_colormap,cv2.COLOR_BGR2GRAY)
    detector=cv2.SimpleBlobDetector_create(params)
    points=detector.detect(g)
    blank=np.zeros((1,1,1))
    blobs=cv2.drawKeypoints(g,points,np.array([]),(0,255,0),cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
KonstantinosAng commented 3 years ago

Using my mapper repo you can use the following code to get the world points of the detected blobs:


import mapper

depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_img, alpha=255/clipping_distance), cv2.COLORMAP_JET)
g = cv2.cvtColor(dept_colormap,cv2.COLOR_BGR2GRAY)
detector = cv2.SimpleBlobDetector_create(params)
points = detector.detect(g)

for point in points:
  """ Get depth x, y points of detected blobs """
  depth_x, depth_y = point.pt[0], point.pt[1]
  """ Get world points of your depth x, y """
  world_x, world_y, world_z = mapper.depth_point_2_world_point(kinect, _DepthSpacePoint, [depth_x, depth_y])

blank=np.zeros((1,1,1))
blobs=cv2.drawKeypoints(g,points,np.array([]),(0,255,0),cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
5av10 commented 3 years ago

Using my mapper repo you can use the following code to get the world points of the detected blobs:


import mapper

depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_img, alpha=255/clipping_distance), cv2.COLORMAP_JET)
g = cv2.cvtColor(dept_colormap,cv2.COLOR_BGR2GRAY)
detector = cv2.SimpleBlobDetector_create(params)
points = detector.detect(g)

for point in points:
  """ Get depth x, y points of detected blobs """
  depth_x, depth_y = point.pt[0], point.pt[1]
  """ Get world points of your depth x, y """
  world_x, world_y, world_z = mapper.depth_point_2_world_point(kinect, _DepthSpacePoint, [depth_x, depth_y])

blank=np.zeros((1,1,1))
blobs=cv2.drawKeypoints(g,points,np.array([]),(0,255,0),cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)

The z coordinate is not changing