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Change snake_case to camelCase, removed unused code, change interpolation to INTER_LINEAR, removed .exe files

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Christopher Remde
2020-07-29 19:09:48 +02:00
parent 4a7e9904d5
commit df80603b6f
19 changed files with 32 additions and 55 deletions
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bin/ICP.dll
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bin/LiveScanPlayer.exe.config
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@@ -1,6 +0,0 @@
<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
</startup>
</configuration>
bin/LiveScanServer.exe
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bin/LiveScanServer.exe.config
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@@ -1,6 +0,0 @@
<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
</startup>
</configuration>
bin/depthengine_2_0.dll
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include/LiveScanClient/azureKinectCapture.h
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@@ -28,15 +28,14 @@ private:
k4a_image_t colorImage = NULL;
k4a_image_t depthImage = NULL;
k4a_image_t pointCloudImage = NULL;
k4a_image_t transformed_depth_image = NULL;
k4a_image_t transformedDepthImage = NULL;
k4a_image_t colorImageInDepth = NULL;
k4a_image_t depthImageInColor = NULL;
k4a_image_t color_image_downscaled = NULL;
int color_image_downscaled_width;
int color_image_downscaled_height;
k4a_image_t colorImageDownscaled = NULL;
int colorImageDownscaledWidth;
int colorImageDownscaledHeight;
k4a_transformation_t transformation = NULL;
k4a_transformation_t transformation_color_downscaled = NULL;
cv::Mat color_to_opencv(const k4a_image_t im);
k4a_transformation_t transformationColorDownscaled = NULL;
void UpdateDepthPointCloud();
void UpdateDepthPointCloudForColorFrame();
};
src/LiveScanClient/azureKinectCapture.cpp
+27 -37
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@@ -16,8 +16,8 @@ AzureKinectCapture::~AzureKinectCapture()
k4a_image_release(pointCloudImage);
k4a_image_release(colorImageInDepth);
k4a_image_release(depthImageInColor);
k4a_image_release(transformed_depth_image);
k4a_image_release(color_image_downscaled);
k4a_image_release(transformedDepthImage);
k4a_image_release(colorImageDownscaled);
k4a_transformation_destroy(transformation);
k4a_device_close(kinectSensor);
}
@@ -89,20 +89,20 @@ bool AzureKinectCapture::Initialize()
//We calculate the minimum size that the color Image can be, while preserving its aspect ration
float rescaleRatio = (float)calibration.color_camera_calibration.resolution_height / (float)depth_camera_height;
color_image_downscaled_height = depth_camera_height;
color_image_downscaled_width = calibration.color_camera_calibration.resolution_width / rescaleRatio;
colorImageDownscaledHeight = depth_camera_height;
colorImageDownscaledWidth = calibration.color_camera_calibration.resolution_width / rescaleRatio;
//We don't only need the size in pixels of the downscaled color image, but also a new k4a_calibration_t which fits the new
//sizes
k4a_calibration_t calibration_color_downscaled;
memcpy(&calibration_color_downscaled, &calibration, sizeof(k4a_calibration_t));
calibration_color_downscaled.color_camera_calibration.resolution_width /= rescaleRatio;
calibration_color_downscaled.color_camera_calibration.resolution_height /= rescaleRatio;
calibration_color_downscaled.color_camera_calibration.intrinsics.parameters.param.cx /= rescaleRatio;
calibration_color_downscaled.color_camera_calibration.intrinsics.parameters.param.cy /= rescaleRatio;
calibration_color_downscaled.color_camera_calibration.intrinsics.parameters.param.fx /= rescaleRatio;
calibration_color_downscaled.color_camera_calibration.intrinsics.parameters.param.fy /= rescaleRatio;
transformation_color_downscaled = k4a_transformation_create(&calibration_color_downscaled);
k4a_calibration_t calibrationColorDownscaled;
memcpy(&calibrationColorDownscaled, &calibration, sizeof(k4a_calibration_t));
calibrationColorDownscaled.color_camera_calibration.resolution_width /= rescaleRatio;
calibrationColorDownscaled.color_camera_calibration.resolution_height /= rescaleRatio;
calibrationColorDownscaled.color_camera_calibration.intrinsics.parameters.param.cx /= rescaleRatio;
calibrationColorDownscaled.color_camera_calibration.intrinsics.parameters.param.cy /= rescaleRatio;
calibrationColorDownscaled.color_camera_calibration.intrinsics.parameters.param.fx /= rescaleRatio;
calibrationColorDownscaled.color_camera_calibration.intrinsics.parameters.param.fy /= rescaleRatio;
transformationColorDownscaled = k4a_transformation_create(&calibrationColorDownscaled);
std::chrono::time_point<std::chrono::system_clock> start = std::chrono::system_clock::now();
bool bTemp;
@@ -144,7 +144,7 @@ bool AzureKinectCapture::AcquireFrame()
}
k4a_image_release(colorImage);
k4a_image_release(color_image_downscaled);
k4a_image_release(colorImageDownscaled);
k4a_image_release(depthImage);
colorImage = k4a_capture_get_color_image(capture);
@@ -155,23 +155,23 @@ bool AzureKinectCapture::AcquireFrame()
return false;
}
//We need to resize the color image, so that it's height fits the depth camera height, while preserving the aspect ratio of the color camera
//We need to resize the color image, so that it's height fits the depth camera height, while preserving the aspect ratio of the color camera:
//Convert the k4a_image to an OpenCV Mat
cv::Mat cImg = cv::Mat(k4a_image_get_height_pixels(colorImage), k4a_image_get_width_pixels(colorImage), CV_8UC4, k4a_image_get_buffer(colorImage));
//Resize the k4a_image to the precalculated size. Takes quite along time, maybe there is a faster algorithm?
cv::resize(cImg, cImg, cv::Size(color_image_downscaled_width, color_image_downscaled_height), cv::INTER_NEAREST);
cv::resize(cImg, cImg, cv::Size(colorImageDownscaledWidth, colorImageDownscaledHeight), cv::INTER_LINEAR);
//Create a k4a_image from the resized OpenCV Mat. Code taken from here: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/978#issuecomment-566002061
k4a_image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32, cImg.cols, cImg.rows, cImg.cols * 4 * (int)sizeof(uint8_t), &color_image_downscaled);
memcpy(k4a_image_get_buffer(color_image_downscaled), &cImg.ptr<cv::Vec4b>(0)[0], cImg.rows * cImg.cols * sizeof(cv::Vec4b));
k4a_image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32, cImg.cols, cImg.rows, cImg.cols * 4 * (int)sizeof(uint8_t), &colorImageDownscaled);
memcpy(k4a_image_get_buffer(colorImageDownscaled), &cImg.ptr<cv::Vec4b>(0)[0], cImg.rows * cImg.cols * sizeof(cv::Vec4b));
if (pColorRGBX == NULL)
{
nColorFrameHeight = k4a_image_get_height_pixels(color_image_downscaled);
nColorFrameWidth = k4a_image_get_width_pixels(color_image_downscaled);
nColorFrameHeight = k4a_image_get_height_pixels(colorImageDownscaled);
nColorFrameWidth = k4a_image_get_width_pixels(colorImageDownscaled);
pColorRGBX = new RGB[nColorFrameWidth * nColorFrameHeight];
}
@@ -184,7 +184,7 @@ bool AzureKinectCapture::AcquireFrame()
memcpy(pColorRGBX, k4a_image_get_buffer(color_image_downscaled), nColorFrameWidth * nColorFrameHeight * sizeof(RGB));
memcpy(pColorRGBX, k4a_image_get_buffer(colorImageDownscaled), nColorFrameWidth * nColorFrameHeight * sizeof(RGB));
memcpy(pDepth, k4a_image_get_buffer(depthImage), nDepthFrameHeight * nDepthFrameWidth * sizeof(UINT16));
k4a_capture_release(capture);
@@ -194,9 +194,9 @@ bool AzureKinectCapture::AcquireFrame()
void AzureKinectCapture::UpdateDepthPointCloudForColorFrame()
{
if (transformed_depth_image == NULL)
if (transformedDepthImage == NULL)
{
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16, nColorFrameWidth, nColorFrameHeight, nColorFrameWidth * (int)sizeof(uint16_t), &transformed_depth_image);
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16, nColorFrameWidth, nColorFrameHeight, nColorFrameWidth * (int)sizeof(uint16_t), &transformedDepthImage);
}
if (pointCloudImage == NULL)
@@ -204,9 +204,9 @@ void AzureKinectCapture::UpdateDepthPointCloudForColorFrame()
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM, nColorFrameWidth, nColorFrameHeight, nColorFrameWidth * 3 * (int)sizeof(int16_t), &pointCloudImage);
}
k4a_transformation_depth_image_to_color_camera(transformation_color_downscaled, depthImage, transformed_depth_image);
k4a_transformation_depth_image_to_color_camera(transformationColorDownscaled, depthImage, transformedDepthImage);
k4a_transformation_depth_image_to_point_cloud(transformation_color_downscaled, transformed_depth_image, K4A_CALIBRATION_TYPE_COLOR, pointCloudImage);
k4a_transformation_depth_image_to_point_cloud(transformationColorDownscaled, transformedDepthImage, K4A_CALIBRATION_TYPE_COLOR, pointCloudImage);
}
void AzureKinectCapture::UpdateDepthPointCloud()
@@ -264,7 +264,7 @@ void AzureKinectCapture::MapDepthFrameToColorSpace(UINT16 *pDepthInColorSpace)
&depthImageInColor);
}
k4a_transformation_depth_image_to_color_camera(transformation_color_downscaled, depthImage, depthImageInColor);
k4a_transformation_depth_image_to_color_camera(transformationColorDownscaled, depthImage, depthImageInColor);
memcpy(pDepthInColorSpace, k4a_image_get_buffer(depthImageInColor), nColorFrameHeight * nColorFrameWidth * (int)sizeof(uint16_t));
}
@@ -278,19 +278,9 @@ void AzureKinectCapture::MapColorFrameToDepthSpace(RGB* pColorInDepthSpace)
&colorImageInDepth);
}
k4a_transformation_color_image_to_depth_camera(transformation_color_downscaled, depthImage, colorImage, colorImageInDepth);
k4a_transformation_color_image_to_depth_camera(transformationColorDownscaled, depthImage, colorImage, colorImageInDepth);
memcpy(pColorInDepthSpace, k4a_image_get_buffer(colorImageInDepth), nDepthFrameHeight * nDepthFrameWidth * 4 * (int)sizeof(uint8_t));
}
cv::Mat AzureKinectCapture::color_to_opencv(const k4a_image_t im)
{
cv::Mat cv_image_with_alpha(k4a_image_get_height_pixels(im), k4a_image_get_width_pixels(im), CV_8UC4, k4a_image_get_buffer(im));
cv::Mat cv_image_no_alpha;
cv::cvtColor(cv_image_with_alpha, cv_image_no_alpha, cv::COLOR_BGRA2BGR);
return cv_image_no_alpha;
}