Azure Kinect：如何获得彩色的深度视频记录？

Question

我正在尝试从记录（mkv）中提取深度视频，但是问题在于它是以b16g灰度格式提取的。是否可以使用Azure Kinect Viewer中的颜色提取或获取具有颜色的深度视频？使用的相机是Azure Kinect DK。谢谢，感谢您提供任何反馈意见。

这是我使用的步骤：

ffmpeg -i output.mkv -map 0：1 -vsync 0 depth％03d.png

这将深度轨迹提取为一系列16位PNG。来源：https://docs.microsoft.com/en-us/azure/kinect-dk/record-file-format

然后

ffmpeg -r 30 -i depth％03d.png -c：v libx264 -vf“ fps = 30，format = yuv420p” depth.mp4

根据png图像重新创建深度视频。但是输出的视频是灰度的。来源：How to create a video from images with FFmpeg?

Answer 1

观看者根据最小和最大深度模式对深度进行归一化，以便使用整个16位深度范围。然后，它使用以下代码进行着色。

    static inline BgraPixel ColorizeBlueToRed(const DepthPixel &depthPixel,
                                              const DepthPixel &min,
                                              const DepthPixel &max)
    {
        constexpr uint8_t PixelMax = std::numeric_limits<uint8_t>::max();

        // Default to opaque black.
        //
        BgraPixel result = { 0, 0, 0, PixelMax };

        // If the pixel is actual zero and not just below the min value, make it black
        //
        if (depthPixel == 0)
        {
            return result;
        }

        uint16_t clampedValue = depthPixel;
        clampedValue = std::min(clampedValue, max);
        clampedValue = std::max(clampedValue, min);

        // Normalize to [0, 1]
        //
        float hue = (clampedValue - min) / static_cast<float>(max - min);

        // The 'hue' coordinate in HSV is a polar coordinate, so it 'wraps'.
        // Purple starts after blue and is close enough to red to be a bit unclear,
        // so we want to go from blue to red.  Purple starts around .6666667,
        // so we want to normalize to [0, .6666667].
        //
        constexpr float range = 2.f / 3.f;
        hue *= range;

        // We want blue to be close and red to be far, so we need to reflect the
        // hue across the middle of the range.
        //
        hue = range - hue;

        float fRed = 0.f;
        float fGreen = 0.f;
        float fBlue = 0.f;
        ImGui::ColorConvertHSVtoRGB(hue, 1.f, 1.f, fRed, fGreen, fBlue);

        result.Red = static_cast<uint8_t>(fRed * PixelMax);
        result.Green = static_cast<uint8_t>(fGreen * PixelMax);
        result.Blue = static_cast<uint8_t>(fBlue * PixelMax);

        return result;
    }

https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/95f1d95f1f335b57a350a80a3a62e98e1ee4258d/tools/k4aviewer/k4adepthpixelcolorizer.h#L35