http://www.sigvc.org/bbs/thread-722-1-1.html
在本文中将详细梳理使用Kinect进行3d扫描的过程,一共包含3种实现方法:processing编程实现、skanect软件实现、ReconstructMe软件实现。RecontructMe只能基于32位系统的驱动与kinect连接,而skanect与processing不论是32位还是64位都可以较好的兼容。
Comparison of ReconstructMe, KinectFusion and Skanect:
我们首先来看ReconstructMe:
ReconstructMe是基于32位系统的,但是在64位操作系统下仍旧使用32位的kinect驱动以及ReconstructMe。
ReconstructMe官方网址:http://reconstructme.net/
官网中针对不同的用户,有免费版以及收费版两种软件,具体下载地址为:http://reconstructme.net/projects/reconstructme-console/
下载完成以后,先不要安装,在安装ReconstructMe之前我们首先需要安装Kinect的驱动,具体步骤如下:
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下载32位openni驱动包,下载地址:
https://www.dropbox.com/s/n55mr8q1j0nzyru/Sensor%20Driver%20Package%
20×86%201.5.2.zip
坚果云下载地址:
https://jianguoyun.com/c/pubfile/uGqA8e_Y18lRqUluPrFMdXnCzq3o0ko9_Eh_5yDu-3U
2.解压驱动包,首先安装OpenNI,再然后是SensorKinect,然后是SensorPrimesense。(在安装之前,一定要把原来kinect的驱动卸载掉)
3.全部安装完成以后,重启
4.将你的Kinect连接上电脑,可以通过查看控制面板中的设备管理器,检查你的电脑是否已 经识别Kinect.
5.确认Kinect已经能和电脑通信之后,安装下载好的ReconstructMe,安装完以后运行目录中的Start ReconstructMe Scan OpenNI.bat,注意不是ReconstructMe.exe。然后根据提示进行操作即可
附图:
接下来是通过skanect进行3d扫描:
Skanect官方网址:http://skanect.manctl.com
下载地址:http://manctl.com/products.html(页面中含有详细的安装步骤,但是一些链接已经失效,在后面的安装步骤中含有其他下载链接)
详细安装步骤:
- 下载skanect
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下载kinect驱动包:
https://www.dropbox.com/s/734160v5imqyd5d/kinect%20driver%20package%20for%2064bit.zip
坚果云下载地址:
https://jianguoyun.com/c/pubfile/sm_vNwOtndapU8ya3p46l6BXj-ujPkDmnt7JrTnhjoc
3. 下载完驱动包以后,首先安装OpenNI,然后是NITE,再然后是sensor(此文件也就是Primesense),最后是SensorKinect.
4.把kinect通过USB连接到电脑,检查控制面板中的设备管理器,判断是否已经连接成功。
5.安装skanect并运行skanect.exe
(备注:
1. 若基于32位操作系统,当使用skanect应下载之前ReconstructMe的所需的驱动,并附加NITE(具体安装顺序如上所示):
dropbox下载:https://www.dropbox.com/s/alvz98xzchlhlqj/NITE-Win32-1.5.2.21-Dev.zip
坚果云下载:
https://jianguoyun.com/c/pubfile/pw4suN5cAEsSIyTDyMGLaoAIw3Dfc6baECBR_1udBkY
2. 若运行skanect时,提示未查找到openni.dll则需根据你安装的目录找到openni.dll并复制到system32中!)
附图:
最后一种方法是通过processing编程实现,对于使用过Processing或者java的人比较适用。虽然自己之前没有接触过java,但还是尝试了一下,欢迎大家一起折腾,具体步骤:
- 首先还是需要安装Kinect的驱动(本人亲测为安装64位的驱动,如果你使用的操作系统是32位的还需安装NITE,因为后面调用processing库是需使用到)
-
Processing的simple-openni库下载及安装:
(木有接触过processing的,百度一下即可找到,下载该软件并根据官网指示了解如何安装库文件)
3.Coding!
Processing代码:
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import processing.opengl.*;
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import SimpleOpenNI.*;
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import kinectOrbit.*;
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KinectOrbit myOrbit;
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SimpleOpenNI kinect;
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String turnTableAngle = "0";
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ArrayList scanPoints = new ArrayList(); // PointCloud
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ArrayList scanColors = new ArrayList(); // Object Colors
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ArrayList objectPoints = new ArrayList(); // PointCloud
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ArrayList objectColors = new ArrayList(); // Object Colors
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float baseHeight = ; // Height of the Model's base//1
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float modelWidth = ;//2
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float modelHeight = ;//3
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PVector axis = new PVector(0, baseHeight, );//4
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int scanLines = 200;
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int scanRes = 1;
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float[] shotNumber = new float[3];
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int currentShot = 0;
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public void setup()
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{
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size(800, 600, OPENGL);
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// Orbit
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myOrbit = new KinectOrbit(this, 0, "kinect");
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myOrbit.drawCS(true);
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myOrbit.drawGizmo(true);
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myOrbit.setCSScale( );//5
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myOrbit.drawGround(true);
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// Simple-openni
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kinect = new SimpleOpenNI(this);
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kinect.setMirror(false);
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kinect.enableDepth();
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kinect.enableRGB();
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kinect.alternativeViewPointDepthToImage();
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for (int i = 0; i < shotNumber.length; i++)
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{
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shotNumber<i> = i * (2 * PI) / shotNumber.length;
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}
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}
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public void draw()
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{
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kinect.update(); // Update Kinect data
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background(0);
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myOrbit.pushOrbit(this); // Start Orbiting
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drawPointCloud(5);
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updateObject(scanLines, scanRes);
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if(currentShot>0&¤tShot<4)
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{
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scan();
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}
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drawObjects();
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drawBoundingBox(); // Draw Box Around Scanned Objects
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kinect.drawCamFrustum(); // Draw the Kinect cam
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myOrbit.popOrbit(this); // Stop Orbiting
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}
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void drawPointCloud(int steps)
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{
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// draw the 3D point depth map
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int index;
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PVector realWorldPoint;
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stroke(255);
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for (int y = 0; y < kinect.depthHeight(); y += steps)
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{
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for (int x = 0; x < kinect.depthWidth(); x += steps)
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{
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index = x + y * kinect.depthWidth();
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realWorldPoint = kinect.depthMapRealWorld()[index];
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stroke(150);
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point(realWorldPoint.x, realWorldPoint.y, realWorldPoint.z);
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}
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}
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}
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void drawObjects()
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{
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pushStyle();
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strokeWeight(4);
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for (int i = 1; i < objectPoints.size(); i++)
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{
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stroke(objectColors.get(i).x, objectColors.get(i).y, objectColors.get(i).z);
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point(objectPoints.get(i).x, objectPoints.get(i).y, objectPoints.get(i).z + axis.z);
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}
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for (int i = 1; i < scanPoints.size(); i++)
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{
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stroke(scanColors.get(i).x, scanColors.get(i).y, scanColors.get(i).z);
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point(scanPoints.get(i).x, scanPoints.get(i).y, scanPoints.get(i).z + axis.z);
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}
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popStyle();
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}
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void drawBoundingBox()
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{
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stroke(255, 0, 0);
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line(axis.x, axis.y, axis.z, axis.x, axis.y + 100, axis.z);
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noFill();
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pushMatrix();
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translate(axis.x, axis.x + baseHeight + modelHeight / 2, axis.z);
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box(modelWidth, modelHeight, modelWidth);
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popMatrix();
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}
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void scan()
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{
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for (PVector v : scanPoints)
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{
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boolean newPoint = true;
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for (PVector w : objectPoints)
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{
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if (v.dist(w) < 1)
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newPoint = false;
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}
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if (newPoint)
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{
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objectPoints.add(v.get());
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int index = scanPoints.indexOf(v);
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objectColors.add(scanColors.get(index).get());
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}
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}
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}
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void updateObject(int scanWidth, int step)
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{
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int index;
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PVector realWorldPoint;
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scanPoints.clear();
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scanColors.clear();
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float angle=(currentShot-1)*2*PI/3;
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rotateY(angle);
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line(0,0,100,0);//draw a line at the base of the bounding box to indicate the rotation
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int xMin = (int) (kinect.depthWidth() / 2 - scanWidth / 2);
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int xMax = (int) (kinect.depthWidth() / 2 + scanWidth / 2);
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for (int y = 0; y < kinect.depthHeight(); y += step)
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{
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for (int x = xMin; x < xMax; x += step)
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{
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index = x + (y * kinect.depthWidth());
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realWorldPoint = kinect.depthMapRealWorld()[index];
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color pointCol = kinect.rgbImage().pixels[index];
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if (realWorldPoint.y < modelHeight + baseHeight && realWorldPoint.y > baseHeight)
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{
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if (abs(realWorldPoint.x - axis.x) < modelWidth / 2)
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{ // Check x
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if (realWorldPoint.z < axis.z + modelWidth / 2 && realWorldPoint.z > axis.z -modelWidth / 2)
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{ // Check z
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PVector rotatedPoint;
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realWorldPoint.z -= axis.z;
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realWorldPoint.x -= axis.x;
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rotatedPoint = vecRotY(realWorldPoint, angle);
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scanPoints.add(rotatedPoint.get());
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scanColors.add(new PVector(red(pointCol), green(pointCol), blue(pointCol)));
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}
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}
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}
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}
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}
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}
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PVector vecRotY(PVector vecIn, float phi)
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{
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// Rotate the vector around the y-axis
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PVector rotatedVec = new PVector();
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rotatedVec.x = vecIn.x * cos(phi) - vecIn.z * sin(phi);
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rotatedVec.z = vecIn.x * sin(phi) + vecIn.z * cos(phi);
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rotatedVec.y = vecIn.y;
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return rotatedVec;
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}
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public void keyPressed() {
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switch(key)
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{
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case 's':
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currentShot++;
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break;
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case 'c': // Clear the object points
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objectPoints.clear();
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objectColors.clear();
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currentshot=0;
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break;
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case 'e': // Export the object points
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exportPly('0');
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break;
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case '+': // Increment the number of scanned lines
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scanLines++;
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println(scanLines);
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break;
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case '-': // Decrease the number of scanned lines
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scanLines--;
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println(scanLines);
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break;
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}
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}
代码下载地址:
Dropbox下载:https://www.dropbox.com/s/90fttmvheag2k2r/scan.pde
坚果云下载:https://jianguoyun.com/c/pubfile/GHAf-ZzTMjgr1KNNinHgpWf7QKdTmBu2Z-2SIU_YbE8
收工!