Hello, i want to record frame by frame color point cloud. I made using Github something like this :
`
def save_data2(filename, points,color):
N = points.shape[0]
vertex = []
for i in range(N):
vertex.append((points[i, 0], points[i, 1], points[i, 2],color[i, 0], color[i, 1], color[i, 2]))
vertex = np.array(vertex, dtype=[('x', 'f4'), ('y', 'f4'), ('z', 'f4'),('red', 'u1'), ('green', 'u1'), ('blue', 'u1')])
el = PlyElement.describe(vertex, 'vertex')
PlyData([el], text=True).write(filename)
video_filename = "2022-12-09-12-54-46.mkv"
pykinect.initialize_libraries()
# Start playback
playback = pykinect.start_playback(video_filename)
playback_config = playback.get_record_configuration()
#print(playback_config)
while playback.isOpened():
# Get camera capture
capture = playback.update()
# Get the colored depth
ret, depth_image=capture.get_depth_image()
ret, color_image=capture.get_color_image()
r_color_image=cv2.resize(color_image,(512,512))
resized_color_image=np.reshape(cv2.cvtColor(r_color_image, cv2.COLOR_BGR2RGB),(262144,3))
ret, pointcloud = capture.get_pointcloud()
filename = '{date:%Y-%m-%d-%H-%M-%S}.ply'.format(date=datetime.datetime.now())
save_data2(filename,pointcloud,resized_color_image)
`
Using azure_kinect_recorder
and config
{ "camera_fps" : "K4A_FRAMES_PER_SECOND_30", "color_format" : "K4A_IMAGE_FORMAT_COLOR_MJPG", "color_resolution" : "K4A_COLOR_RESOLUTION_2160P", "depth_delay_off_color_usec" : "0", "depth_mode" : "K4A_DEPTH_MODE_WFOV_2X2BINNED", "disable_streaming_indicator" : "false", "subordinate_delay_off_master_usec" : "0", "synchronized_images_only" : "false", "wired_sync_mode" : "K4A_WIRED_SYNC_MODE_STANDALONE" }
It doesn't work because i put image without depth to point cloud, but to be honest i have no idea to fix it.
MichalZuraw
commented
1 year ago
Hello, i want to record frame by frame color point cloud. I made using Github something like this :
` def save_data2(filename, points,color): N = points.shape[0] vertex = [] for i in range(N): vertex.append((points[i, 0], points[i, 1], points[i, 2],color[i, 0], color[i, 1], color[i, 2])) vertex = np.array(vertex, dtype=[('x', 'f4'), ('y', 'f4'), ('z', 'f4'),('red', 'u1'), ('green', 'u1'), ('blue', 'u1')]) el = PlyElement.describe(vertex, 'vertex') PlyData([el], text=True).write(filename)
`
Using azure_kinect_recorder and config
{ "camera_fps" : "K4A_FRAMES_PER_SECOND_30", "color_format" : "K4A_IMAGE_FORMAT_COLOR_MJPG", "color_resolution" : "K4A_COLOR_RESOLUTION_2160P", "depth_delay_off_color_usec" : "0", "depth_mode" : "K4A_DEPTH_MODE_WFOV_2X2BINNED", "disable_streaming_indicator" : "false", "subordinate_delay_off_master_usec" : "0", "synchronized_images_only" : "false", "wired_sync_mode" : "K4A_WIRED_SYNC_MODE_STANDALONE" }It doesn't work because i put image without depth to point cloud, but to be honest i have no idea to fix it.Thank you