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Merge branch 'AzureKinect' into Azure_Kinect_Temp_Sync

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This commit is contained in:
Christopher Remde
2020-10-20 17:55:08 +02:00
committed by GitHub
parent 76bf5e9dba 13e634f76a
commit 6b983126f3
5 changed files with 244 additions and 177 deletions
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include/LiveScanClient/azureKinectCapture.h
+15 -8
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@@ -3,9 +3,10 @@
#include "stdafx.h"
#include "ICapture.h"
#include <k4a/k4a.h>
#include <iostream>
using namespace std;
//#include "utils.h"
#include <opencv2/opencv.hpp>
#include "utils.h"
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
class AzureKinectCapture : public ICapture
{
@@ -25,17 +26,22 @@ public:
int GetDeviceIndex();
void SetExposureState(bool enableAutoExposure, int exposureStep);
private:
k4a_device_t kinectSensor = NULL;
int32_t captureTimeoutMs = 1000;
k4a_image_t colorImage = NULL;
k4a_image_t depthImage = NULL;
k4a_image_t depthPointCloudImage = NULL;
k4a_image_t pointCloudImage = NULL;
k4a_image_t transformedDepthImage = NULL;
k4a_image_t colorImageInDepth = NULL;
k4a_image_t depthImageInColor = NULL;
k4a_transformation_t transformation = NULL;
k4a_image_t colorImageDownscaled = NULL;
k4a_transformation_t transformationColorDownscaled = NULL;
k4a_transformation_t transformation = NULL;
int colorImageDownscaledWidth;
int colorImageDownscaledHeight;
bool syncInConnected = false;
bool syncOutConnected = false;
uint64_t currentTimeStamp = 0;
@@ -44,6 +50,7 @@ private:
int restartAttempts = 0;
bool autoExposureEnabled = true;
int exposureTimeStep = 0;
void UpdateDepthPointCloud();
void UpdateDepthPointCloudForColorFrame();
};
include/LiveScanClient/liveScanClient.h
+1 -1
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@@ -86,7 +86,7 @@ private:
int frameRecordCounter;
Point3f* m_pCameraSpaceCoordinates;
RGB* m_pColorInDepthSpace;
RGB* m_pColorInColorSpace;
UINT16* m_pDepthInColorSpace;
// Direct2D
include/LiveScanClient/utils.h
+10
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@@ -59,16 +59,26 @@ typedef struct Point3f
this->X = 0;
this->Y = 0;
this->Z = 0;
this->Invalid = false;
}
Point3f(float X, float Y, float Z, bool invalid)
{
this->X = X;
this->Y = Y;
this->Z = Z;
this->Invalid = invalid;
}
Point3f(float X, float Y, float Z)
{
this->X = X;
this->Y = Y;
this->Z = Z;
this->Invalid = false;
}
float X;
float Y;
float Z;
bool Invalid = false;
} Point3f;
typedef struct Point3s