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Working with Azure Kinect but without body and only single sensor per machine

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This commit is contained in:
Marek Kowalski
2019-08-16 17:27:03 +01:00
parent 987aa32b70
commit f49bcaf5d9
15 changed files with 524 additions and 523 deletions
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include/LiveScanClient/azureKinectCapture.h
+33
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@@ -0,0 +1,33 @@
#pragma once
#include "stdafx.h"
#include "ICapture.h"
#include <k4a/k4a.h>
#include "utils.h"
class AzureKinectCapture : public ICapture
{
public:
AzureKinectCapture();
~AzureKinectCapture();
bool Initialize();
bool Initialize(int deviceIdx);
bool AcquireFrame();
void MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints);
void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints);
void MapDepthFrameToColorSpace(UINT16 *pDepthInColorSpace);
void MapColorFrameToDepthSpace(RGB *pColorInDepthSpace);
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 colorImageInDepth = NULL;
k4a_image_t depthImageInColor = NULL;
k4a_transformation_t transformation = NULL;
void UpdateDepthPointCloud();
};
include/LiveScanClient/frameFileWriterReader.h
+3 -3
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@@ -12,9 +12,9 @@ public:
FrameFileWriterReader();
void openNewFileForWriting();
void openCurrentFileForReading();
// leave filename blank if you want the filename to be generated from the date
void setCurrentFilename(std::string filename = "");
void setCurrentFilename(std::string filename = "");
void writeFrame(std::vector<Point3s> points, std::vector<RGB> colors);
bool readFrame(std::vector<Point3s> &outPoints, std::vector<RGB> &outColors);
@@ -32,7 +32,7 @@ private:
int getRecordingTimeMilliseconds();
FILE *m_pFileHandle = nullptr;
bool m_bFileOpenedForWriting = false;
bool m_bFileOpenedForWriting = false;
bool m_bFileOpenedForReading = false;
std::string m_sFilename = "";
include/LiveScanClient/iCapture.h
+9 -5
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@@ -15,15 +15,19 @@
#pragma once
#include "utils.h"
#include "Kinect.h"
struct Joint
{
};
struct Body
{
Body()
{
bTracked = false;
vJoints.resize(JointType_Count);
vJointsInColorSpace.resize(JointType_Count);
vJoints.resize(5);
vJointsInColorSpace.resize(5);
}
bool bTracked;
std::vector<Joint> vJoints;
@@ -40,8 +44,8 @@ public:
virtual bool AcquireFrame() = 0;
virtual void MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints) = 0;
virtual void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints) = 0;
virtual void MapDepthFrameToColorSpace(Point2f *pColorSpacePoints) = 0;
virtual void MapColorFrameToDepthSpace(Point2f *pDepthSpacePoints) = 0;
virtual void MapDepthFrameToColorSpace(UINT16 *pColorSpacePoints) = 0;
virtual void MapColorFrameToDepthSpace(RGB *pDepthSpacePoints) = 0;
bool bInitialized;
include/LiveScanClient/imageRenderer.h
+4 -4
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@@ -52,7 +52,7 @@ private:
UINT m_sourceWidth;
LONG m_sourceStride;
// Direct2D
// Direct2D
ID2D1Factory* m_pD2DFactory;
ID2D1HwndRenderTarget* m_pRenderTarget;
ID2D1Bitmap* m_pBitmap;
@@ -64,12 +64,12 @@ private:
HRESULT EnsureResources();
/// <summary>
/// Dispose of Direct2d resources
/// Dispose of Direct2d resources
/// </summary>
void DiscardResources();
void DrawBody(Body &body);
void DrawBone(Body &body, JointType joint0, JointType joint1);
//void DrawBody(Body &body);
//void DrawBone(Body &body, JointType joint0, JointType joint1);
ID2D1SolidColorBrush* m_pBrushJointTracked;
ID2D1SolidColorBrush* m_pBrushJointInferred;
include/LiveScanClient/kinectCapture.h
-43
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@@ -1,43 +0,0 @@
// Copyright (C) 2015 Marek Kowalski (M.Kowalski@ire.pw.edu.pl), Jacek Naruniec (J.Naruniec@ire.pw.edu.pl)
// License: MIT Software License See LICENSE.txt for the full license.
// If you use this software in your research, then please use the following citation:
// Kowalski, M.; Naruniec, J.; Daniluk, M.: "LiveScan3D: A Fast and Inexpensive 3D Data
// Acquisition System for Multiple Kinect v2 Sensors". in 3D Vision (3DV), 2015 International Conference on, Lyon, France, 2015
// @INPROCEEDINGS{Kowalski15,
// author={Kowalski, M. and Naruniec, J. and Daniluk, M.},
// booktitle={3D Vision (3DV), 2015 International Conference on},
// title={LiveScan3D: A Fast and Inexpensive 3D Data Acquisition System for Multiple Kinect v2 Sensors},
// year={2015},
// }
#pragma once
#include "stdafx.h"
#include "ICapture.h"
#include "Kinect.h"
#include "utils.h"
class KinectCapture : public ICapture
{
public:
KinectCapture();
~KinectCapture();
bool Initialize();
bool AcquireFrame();
void MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints);
void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints);
void MapDepthFrameToColorSpace(Point2f *pColorSpacePoints);
void MapColorFrameToDepthSpace(Point2f *pDepthSpacePoints);
private:
ICoordinateMapper* pCoordinateMapper;
IKinectSensor* pKinectSensor;
IMultiSourceFrameReader* pMultiSourceFrameReader;
void GetDepthFrame(IMultiSourceFrame* pMultiFrame);
void GetColorFrame(IMultiSourceFrame* pMultiFrame);
void GetBodyFrame(IMultiSourceFrame* pMultiFrame);
void GetBodyIndexFrame(IMultiSourceFrame* pMultiFrame);
};
include/LiveScanClient/liveScanClient.h
+7 -7
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@@ -19,7 +19,7 @@
#include "SocketCS.h"
#include "calibration.h"
#include "utils.h"
#include "KinectCapture.h"
#include "azureKinectCapture.h"
#include "frameFileWriterReader.h"
#include <thread>
#include <mutex>
@@ -70,11 +70,11 @@ private:
INT64 m_nLastCounter;
double m_fFreq;
INT64 m_nNextStatusTime;
DWORD m_nFramesSinceUpdate;
DWORD m_nFramesSinceUpdate;
Point3f* m_pCameraSpaceCoordinates;
Point2f* m_pColorCoordinatesOfDepth;
Point2f* m_pDepthCoordinatesOfColor;
RGB* m_pColorInDepthSpace;
UINT16* m_pDepthInColorSpace;
// Direct2D
ImageRenderer* m_pDrawColor;
@@ -82,8 +82,8 @@ private:
RGB* m_pDepthRGBX;
void UpdateFrame();
void ProcessColor(RGB* pBuffer, int nWidth, int nHeight);
void ProcessDepth(const UINT16* pBuffer, int nHeight, int nWidth);
void ShowColor();
void ShowDepth();
bool SetStatusMessage(_In_z_ WCHAR* szMessage, DWORD nShowTimeMsec, bool bForce);
@@ -91,7 +91,7 @@ private:
void SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector<Body> body);
void SocketThreadFunction();
void StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color, vector<Body> &bodies, BYTE* bodyIndex);
void StoreFrame(Point3f *vertices, RGB *colorInDepth, vector<Body> &bodies, BYTE* bodyIndex);
void ShowFPS();
void ReadIPFromFile();
void WriteIPToFile();