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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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ICP/ICP.vcxproj
+8 -8
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup Label="ProjectConfigurations"> <ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|Win32"> <ProjectConfiguration Include="Debug|Win32">
<Configuration>Debug</Configuration> <Configuration>Debug</Configuration>
@@ -29,46 +29,46 @@
<PropertyGroup Label="Globals"> <PropertyGroup Label="Globals">
<ProjectGuid>{973EE923-B423-4BCD-AA08-B03DA40CB51F}</ProjectGuid> <ProjectGuid>{973EE923-B423-4BCD-AA08-B03DA40CB51F}</ProjectGuid>
<RootNamespace>ICP</RootNamespace> <RootNamespace>ICP</RootNamespace>
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion> <WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
</PropertyGroup> </PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries> <UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet> <CharacterSet>MultiByte</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries> <UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet> <CharacterSet>MultiByte</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries> <UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet> <CharacterSet>MultiByte</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries> <UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet> <CharacterSet>MultiByte</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType> <ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries> <UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet> <CharacterSet>MultiByte</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|x64'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType> <ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries> <UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet> <CharacterSet>MultiByte</CharacterSet>
</PropertyGroup> </PropertyGroup>
LiveScanClient/KinectClient.vcxproj
+20 -10
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup Label="ProjectConfigurations"> <ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|Win32"> <ProjectConfiguration Include="Debug|Win32">
<Configuration>Debug</Configuration> <Configuration>Debug</Configuration>
@@ -19,13 +19,13 @@
</ProjectConfiguration> </ProjectConfiguration>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ClInclude Include="..\include\LiveScanClient\azureKinectCapture.h" />
<ClInclude Include="..\include\LiveScanClient\calibration.h" /> <ClInclude Include="..\include\LiveScanClient\calibration.h" />
<ClInclude Include="..\include\LiveScanClient\filter.h" /> <ClInclude Include="..\include\LiveScanClient\filter.h" />
<ClInclude Include="..\include\LiveScanClient\frameFileWriterReader.h" /> <ClInclude Include="..\include\LiveScanClient\frameFileWriterReader.h" />
<ClInclude Include="..\include\LiveScanClient\iCapture.h" /> <ClInclude Include="..\include\LiveScanClient\iCapture.h" />
<ClInclude Include="..\include\LiveScanClient\imageRenderer.h" /> <ClInclude Include="..\include\LiveScanClient\imageRenderer.h" />
<ClInclude Include="..\include\LiveScanClient\iMarker.h" /> <ClInclude Include="..\include\LiveScanClient\iMarker.h" />
<ClInclude Include="..\include\LiveScanClient\kinectCapture.h" />
<ClInclude Include="..\include\LiveScanClient\liveScanClient.h" /> <ClInclude Include="..\include\LiveScanClient\liveScanClient.h" />
<ClInclude Include="..\include\LiveScanClient\marker.h" /> <ClInclude Include="..\include\LiveScanClient\marker.h" />
<ClInclude Include="..\include\LiveScanClient\utils.h" /> <ClInclude Include="..\include\LiveScanClient\utils.h" />
@@ -35,13 +35,13 @@
<ClInclude Include="stdafx.h" /> <ClInclude Include="stdafx.h" />
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ClCompile Include="..\src\LiveScanClient\azureKinectCapture.cpp" />
<ClCompile Include="..\src\LiveScanClient\calibration.cpp" /> <ClCompile Include="..\src\LiveScanClient\calibration.cpp" />
<ClCompile Include="..\src\LiveScanClient\filter.cpp" /> <ClCompile Include="..\src\LiveScanClient\filter.cpp" />
<ClCompile Include="..\src\LiveScanClient\frameFileWriterReader.cpp" /> <ClCompile Include="..\src\LiveScanClient\frameFileWriterReader.cpp" />
<ClCompile Include="..\src\LiveScanClient\iCapture.cpp" /> <ClCompile Include="..\src\LiveScanClient\iCapture.cpp" />
<ClCompile Include="..\src\LiveScanClient\imageRenderer.cpp" /> <ClCompile Include="..\src\LiveScanClient\imageRenderer.cpp" />
<ClCompile Include="..\src\LiveScanClient\iMarker.cpp" /> <ClCompile Include="..\src\LiveScanClient\iMarker.cpp" />
<ClCompile Include="..\src\LiveScanClient\kinectCapture.cpp" />
<ClCompile Include="..\src\LiveScanClient\liveScanClient.cpp" /> <ClCompile Include="..\src\LiveScanClient\liveScanClient.cpp" />
<ClCompile Include="..\src\LiveScanClient\marker.cpp" /> <ClCompile Include="..\src\LiveScanClient\marker.cpp" />
<ClCompile Include="..\src\LiveScanClient\utils.cpp" /> <ClCompile Include="..\src\LiveScanClient\utils.cpp" />
@@ -53,36 +53,39 @@
<ItemGroup> <ItemGroup>
<Image Include="app.ico" /> <Image Include="app.ico" />
</ItemGroup> </ItemGroup>
<ItemGroup>
<None Include="packages.config" />
</ItemGroup>
<PropertyGroup Label="Globals"> <PropertyGroup Label="Globals">
<ProjectGuid>{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}</ProjectGuid> <ProjectGuid>{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}</ProjectGuid>
<RootNamespace>KinectClient</RootNamespace> <RootNamespace>KinectClient</RootNamespace>
<ProjectName>LiveScanClient</ProjectName> <ProjectName>LiveScanClient</ProjectName>
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion> <WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
</PropertyGroup> </PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries> <UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries> <UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries> <UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration"> <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType> <ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries> <UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset> <PlatformToolset>v141</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization> <WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet> <CharacterSet>Unicode</CharacterSet>
</PropertyGroup> </PropertyGroup>
@@ -144,7 +147,7 @@
<Link> <Link>
<GenerateDebugInformation>true</GenerateDebugInformation> <GenerateDebugInformation>true</GenerateDebugInformation>
<AdditionalLibraryDirectories>$(KINECTSDK20_DIR)\lib\x64;$(SolutionDir)lib</AdditionalLibraryDirectories> <AdditionalLibraryDirectories>$(KINECTSDK20_DIR)\lib\x64;$(SolutionDir)lib</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world320d.lib;kinect20.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies> <AdditionalDependencies>opencv_world320d.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies>
<SubSystem>NotSet</SubSystem> <SubSystem>NotSet</SubSystem>
</Link> </Link>
</ItemDefinitionGroup> </ItemDefinitionGroup>
@@ -184,11 +187,18 @@
<GenerateDebugInformation>true</GenerateDebugInformation> <GenerateDebugInformation>true</GenerateDebugInformation>
<EnableCOMDATFolding>true</EnableCOMDATFolding> <EnableCOMDATFolding>true</EnableCOMDATFolding>
<OptimizeReferences>true</OptimizeReferences> <OptimizeReferences>true</OptimizeReferences>
<AdditionalDependencies>opencv_world320.lib;kinect20.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies> <AdditionalDependencies>opencv_world320.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>$(KINECTSDK20_DIR)\lib\x64;$(SolutionDir)lib</AdditionalLibraryDirectories> <AdditionalLibraryDirectories>$(KINECTSDK20_DIR)\lib\x64;$(SolutionDir)lib</AdditionalLibraryDirectories>
</Link> </Link>
</ItemDefinitionGroup> </ItemDefinitionGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" /> <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets"> <ImportGroup Label="ExtensionTargets">
<Import Project="..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0-beta.1\build\native\Microsoft.Azure.Kinect.Sensor.targets" Condition="Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0-beta.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" />
</ImportGroup> </ImportGroup>
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
<PropertyGroup>
<ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them. For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText>
</PropertyGroup>
<Error Condition="!Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0-beta.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0-beta.1\build\native\Microsoft.Azure.Kinect.Sensor.targets'))" />
</Target>
</Project> </Project>
LiveScanClient/KinectClient.vcxproj.filters
+9 -6
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@@ -42,9 +42,6 @@
<ClInclude Include="..\include\LiveScanClient\iMarker.h"> <ClInclude Include="..\include\LiveScanClient\iMarker.h">
<Filter>Header Files</Filter> <Filter>Header Files</Filter>
</ClInclude> </ClInclude>
<ClInclude Include="..\include\LiveScanClient\kinectCapture.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="..\include\LiveScanClient\liveScanClient.h"> <ClInclude Include="..\include\LiveScanClient\liveScanClient.h">
<Filter>Header Files</Filter> <Filter>Header Files</Filter>
</ClInclude> </ClInclude>
@@ -57,6 +54,9 @@
<ClInclude Include="..\include\LiveScanClient\frameFileWriterReader.h"> <ClInclude Include="..\include\LiveScanClient\frameFileWriterReader.h">
<Filter>Header Files</Filter> <Filter>Header Files</Filter>
</ClInclude> </ClInclude>
<ClInclude Include="..\include\LiveScanClient\azureKinectCapture.h">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ClCompile Include="..\src\socketCS.cpp"> <ClCompile Include="..\src\socketCS.cpp">
@@ -77,9 +77,6 @@
<ClCompile Include="..\src\LiveScanClient\iMarker.cpp"> <ClCompile Include="..\src\LiveScanClient\iMarker.cpp">
<Filter>Source Files</Filter> <Filter>Source Files</Filter>
</ClCompile> </ClCompile>
<ClCompile Include="..\src\LiveScanClient\kinectCapture.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="..\src\LiveScanClient\liveScanClient.cpp"> <ClCompile Include="..\src\LiveScanClient\liveScanClient.cpp">
<Filter>Source Files</Filter> <Filter>Source Files</Filter>
</ClCompile> </ClCompile>
@@ -92,6 +89,9 @@
<ClCompile Include="..\src\LiveScanClient\frameFileWriterReader.cpp"> <ClCompile Include="..\src\LiveScanClient\frameFileWriterReader.cpp">
<Filter>Source Files</Filter> <Filter>Source Files</Filter>
</ClCompile> </ClCompile>
<ClCompile Include="..\src\LiveScanClient\azureKinectCapture.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Image Include="app.ico"> <Image Include="app.ico">
@@ -103,4 +103,7 @@
<Filter>Resource Files</Filter> <Filter>Resource Files</Filter>
</ResourceCompile> </ResourceCompile>
</ItemGroup> </ItemGroup>
<ItemGroup>
<None Include="packages.config" />
</ItemGroup>
</Project> </Project>
LiveScanClient/packages.config
+4
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@@ -0,0 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="Microsoft.Azure.Kinect.Sensor" version="1.2.0-beta.1" targetFramework="native" />
</packages>
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(); FrameFileWriterReader();
void openNewFileForWriting(); void openNewFileForWriting();
void openCurrentFileForReading(); void openCurrentFileForReading();
// leave filename blank if you want the filename to be generated from the date // 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); void writeFrame(std::vector<Point3s> points, std::vector<RGB> colors);
bool readFrame(std::vector<Point3s> &outPoints, std::vector<RGB> &outColors); bool readFrame(std::vector<Point3s> &outPoints, std::vector<RGB> &outColors);
@@ -32,7 +32,7 @@ private:
int getRecordingTimeMilliseconds(); int getRecordingTimeMilliseconds();
FILE *m_pFileHandle = nullptr; FILE *m_pFileHandle = nullptr;
bool m_bFileOpenedForWriting = false; bool m_bFileOpenedForWriting = false;
bool m_bFileOpenedForReading = false; bool m_bFileOpenedForReading = false;
std::string m_sFilename = ""; std::string m_sFilename = "";
include/LiveScanClient/iCapture.h
+9 -5
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@@ -15,15 +15,19 @@
#pragma once #pragma once
#include "utils.h" #include "utils.h"
#include "Kinect.h"
struct Joint
{
};
struct Body struct Body
{ {
Body() Body()
{ {
bTracked = false; bTracked = false;
vJoints.resize(JointType_Count); vJoints.resize(5);
vJointsInColorSpace.resize(JointType_Count); vJointsInColorSpace.resize(5);
} }
bool bTracked; bool bTracked;
std::vector<Joint> vJoints; std::vector<Joint> vJoints;
@@ -40,8 +44,8 @@ public:
virtual bool AcquireFrame() = 0; virtual bool AcquireFrame() = 0;
virtual void MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints) = 0; virtual void MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints) = 0;
virtual void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints) = 0; virtual void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints) = 0;
virtual void MapDepthFrameToColorSpace(Point2f *pColorSpacePoints) = 0; virtual void MapDepthFrameToColorSpace(UINT16 *pColorSpacePoints) = 0;
virtual void MapColorFrameToDepthSpace(Point2f *pDepthSpacePoints) = 0; virtual void MapColorFrameToDepthSpace(RGB *pDepthSpacePoints) = 0;
bool bInitialized; bool bInitialized;
include/LiveScanClient/imageRenderer.h
+4 -4
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@@ -52,7 +52,7 @@ private:
UINT m_sourceWidth; UINT m_sourceWidth;
LONG m_sourceStride; LONG m_sourceStride;
// Direct2D // Direct2D
ID2D1Factory* m_pD2DFactory; ID2D1Factory* m_pD2DFactory;
ID2D1HwndRenderTarget* m_pRenderTarget; ID2D1HwndRenderTarget* m_pRenderTarget;
ID2D1Bitmap* m_pBitmap; ID2D1Bitmap* m_pBitmap;
@@ -64,12 +64,12 @@ private:
HRESULT EnsureResources(); HRESULT EnsureResources();
/// <summary> /// <summary>
/// Dispose of Direct2d resources /// Dispose of Direct2d resources
/// </summary> /// </summary>
void DiscardResources(); void DiscardResources();
void DrawBody(Body &body); //void DrawBody(Body &body);
void DrawBone(Body &body, JointType joint0, JointType joint1); //void DrawBone(Body &body, JointType joint0, JointType joint1);
ID2D1SolidColorBrush* m_pBrushJointTracked; ID2D1SolidColorBrush* m_pBrushJointTracked;
ID2D1SolidColorBrush* m_pBrushJointInferred; 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 "SocketCS.h"
#include "calibration.h" #include "calibration.h"
#include "utils.h" #include "utils.h"
#include "KinectCapture.h" #include "azureKinectCapture.h"
#include "frameFileWriterReader.h" #include "frameFileWriterReader.h"
#include <thread> #include <thread>
#include <mutex> #include <mutex>
@@ -70,11 +70,11 @@ private:
INT64 m_nLastCounter; INT64 m_nLastCounter;
double m_fFreq; double m_fFreq;
INT64 m_nNextStatusTime; INT64 m_nNextStatusTime;
DWORD m_nFramesSinceUpdate; DWORD m_nFramesSinceUpdate;
Point3f* m_pCameraSpaceCoordinates; Point3f* m_pCameraSpaceCoordinates;
Point2f* m_pColorCoordinatesOfDepth; RGB* m_pColorInDepthSpace;
Point2f* m_pDepthCoordinatesOfColor; UINT16* m_pDepthInColorSpace;
// Direct2D // Direct2D
ImageRenderer* m_pDrawColor; ImageRenderer* m_pDrawColor;
@@ -82,8 +82,8 @@ private:
RGB* m_pDepthRGBX; RGB* m_pDepthRGBX;
void UpdateFrame(); void UpdateFrame();
void ProcessColor(RGB* pBuffer, int nWidth, int nHeight); void ShowColor();
void ProcessDepth(const UINT16* pBuffer, int nHeight, int nWidth); void ShowDepth();
bool SetStatusMessage(_In_z_ WCHAR* szMessage, DWORD nShowTimeMsec, bool bForce); 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 SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector<Body> body);
void SocketThreadFunction(); 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 ShowFPS();
void ReadIPFromFile(); void ReadIPFromFile();
void WriteIPToFile(); void WriteIPToFile();
src/LiveScanClient/azureKinectCapture.cpp
+253
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@@ -0,0 +1,253 @@
#include "azureKinectCapture.h"
#include <chrono>
AzureKinectCapture::AzureKinectCapture()
{
}
AzureKinectCapture::~AzureKinectCapture()
{
k4a_image_release(colorImage);
k4a_image_release(depthImage);
k4a_image_release(depthPointCloudImage);
k4a_image_release(colorImageInDepth);
k4a_image_release(depthImageInColor);
k4a_transformation_destroy(transformation);
k4a_device_close(kinectSensor);
}
bool AzureKinectCapture::Initialize()
{
return Initialize(K4A_DEVICE_DEFAULT);
}
bool AzureKinectCapture::Initialize(int deviceIdx)
{
uint32_t count = k4a_device_get_installed_count();
kinectSensor = NULL;
if (K4A_FAILED(k4a_device_open(deviceIdx, &kinectSensor)))
{
bInitialized = false;
return bInitialized;
}
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config.camera_fps = K4A_FRAMES_PER_SECOND_30;
config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
config.color_resolution = K4A_COLOR_RESOLUTION_1080P;
config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
// Start the camera with the given configuration
bInitialized = K4A_SUCCEEDED(k4a_device_start_cameras(kinectSensor, &config));
k4a_calibration_t calibration;
if (K4A_FAILED(k4a_device_get_calibration(kinectSensor, config.depth_mode, config.color_resolution, &calibration)))
{
bInitialized = false;
return bInitialized;
}
transformation = k4a_transformation_create(&calibration);
std::chrono::time_point<std::chrono::system_clock> start = std::chrono::system_clock::now();
bool bTemp;
do
{
bTemp = AcquireFrame();
std::chrono::duration<double> elapsedSeconds = std::chrono::system_clock::now() - start;
if (elapsedSeconds.count() > 5.0)
{
bInitialized = false;
break;
}
} while (!bTemp);
return bInitialized;
}
bool AzureKinectCapture::AcquireFrame()
{
if (!bInitialized)
{
return false;
}
k4a_capture_t capture = NULL;
k4a_wait_result_t captureResult = k4a_device_get_capture(kinectSensor, &capture, captureTimeoutMs);
if (captureResult != K4A_WAIT_RESULT_SUCCEEDED)
{
return false;
}
k4a_image_release(colorImage);
k4a_image_release(depthImage);
colorImage = k4a_capture_get_color_image(capture);
depthImage = k4a_capture_get_depth_image(capture);
if (colorImage == NULL || depthImage == NULL)
return false;
if (pColorRGBX == NULL)
{
nColorFrameHeight = k4a_image_get_height_pixels(colorImage);
nColorFrameWidth = k4a_image_get_width_pixels(colorImage);
pColorRGBX = new RGB[nColorFrameWidth * nColorFrameHeight];
}
if (pDepth == NULL)
{
nDepthFrameHeight = k4a_image_get_height_pixels(depthImage);
nDepthFrameWidth = k4a_image_get_width_pixels(depthImage);
pDepth = new UINT16[nDepthFrameHeight * nDepthFrameWidth];
}
memcpy(pColorRGBX, k4a_image_get_buffer(colorImage), nColorFrameWidth * nColorFrameHeight * sizeof(RGB));
memcpy(pDepth, k4a_image_get_buffer(depthImage), nDepthFrameHeight * nDepthFrameWidth * sizeof(UINT16));
k4a_capture_release(capture);
return true;
}
void AzureKinectCapture::UpdateDepthPointCloud()
{
if (depthPointCloudImage == NULL)
{
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM16, nDepthFrameWidth, nDepthFrameHeight,
nDepthFrameWidth * 3 * (int)sizeof(int16_t),
&depthPointCloudImage);
}
k4a_transformation_depth_image_to_point_cloud(transformation, depthImage, K4A_CALIBRATION_TYPE_DEPTH, depthPointCloudImage);
}
void AzureKinectCapture::MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints)
{
UpdateDepthPointCloud();
int16_t* pointCloudData = (int16_t*)k4a_image_get_buffer(depthPointCloudImage);
for (int i = 0; i < nDepthFrameHeight; i++)
{
for (int j = 0; j < nDepthFrameWidth; j++)
{
pCameraSpacePoints[j + i * nDepthFrameWidth].X = pointCloudData[3 * (j + i * nDepthFrameWidth) + 0] / 1000.0f;
pCameraSpacePoints[j + i * nDepthFrameWidth].Y = pointCloudData[3 * (j + i * nDepthFrameWidth) + 1] / 1000.0f;
pCameraSpacePoints[j + i * nDepthFrameWidth].Z = pointCloudData[3 * (j + i * nDepthFrameWidth) + 2] / 1000.0f;
}
}
}
// This mapping is much slower then the other ones, use with caution
void AzureKinectCapture::MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints)
{
UpdateDepthPointCloud();
// Initializing temporary images
k4a_image_t colorPointCloudImageX, colorPointCloudImageY, colorPointCloudImageZ, dummy_output_image;
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM16, nColorFrameWidth, nColorFrameHeight,
nColorFrameWidth * (int)sizeof(int16_t),
&colorPointCloudImageX);
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM16, nColorFrameWidth, nColorFrameHeight,
nColorFrameWidth * (int)sizeof(int16_t),
&colorPointCloudImageY);
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM16, nColorFrameWidth, nColorFrameHeight,
nColorFrameWidth * (int)sizeof(int16_t),
&colorPointCloudImageZ);
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16, nColorFrameWidth, nColorFrameHeight,
nColorFrameWidth * (int)sizeof(int16_t),
&dummy_output_image);
k4a_image_t depthPointCloudX, depthPointCloudY, depthPointCloudZ;
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM16, nDepthFrameWidth, nDepthFrameHeight,
nDepthFrameWidth * (int)sizeof(int16_t),
&depthPointCloudX);
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM16, nDepthFrameWidth, nDepthFrameHeight,
nDepthFrameWidth * (int)sizeof(int16_t),
&depthPointCloudY);
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM16, nDepthFrameWidth, nDepthFrameHeight,
nDepthFrameWidth * (int)sizeof(int16_t),
&depthPointCloudZ);
int16_t* depthPointCloudImage_buffer = (int16_t*)k4a_image_get_buffer(depthPointCloudImage);
int16_t* depthPointCloudImageX_buffer = (int16_t*)k4a_image_get_buffer(depthPointCloudX);
int16_t* depthPointCloudImageY_buffer = (int16_t*)k4a_image_get_buffer(depthPointCloudY);
int16_t* depthPointCloudImageZ_buffer = (int16_t*)k4a_image_get_buffer(depthPointCloudZ);
for (int i = 0; i < nDepthFrameWidth * nDepthFrameHeight; i++)
{
depthPointCloudImageX_buffer[i] = depthPointCloudImage_buffer[3 * i + 0];
depthPointCloudImageY_buffer[i] = depthPointCloudImage_buffer[3 * i + 1];
depthPointCloudImageZ_buffer[i] = depthPointCloudImage_buffer[3 * i + 2];
}
int test = 1 << 16;
// Transforming per-depth-pixel point cloud to per-color-pixel point cloud
k4a_transformation_depth_image_to_color_camera_custom(transformation, depthImage, depthPointCloudX,
dummy_output_image, colorPointCloudImageX,
K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR, 0);
k4a_transformation_depth_image_to_color_camera_custom(transformation, depthImage, depthPointCloudY,
dummy_output_image, colorPointCloudImageY,
K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR, 0);
k4a_transformation_depth_image_to_color_camera_custom(transformation, depthImage, depthPointCloudZ,
dummy_output_image, colorPointCloudImageZ,
K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR, 0);
int16_t* pointCloudDataX = (int16_t*)k4a_image_get_buffer(colorPointCloudImageX);
int16_t* pointCloudDataY = (int16_t*)k4a_image_get_buffer(colorPointCloudImageY);
int16_t* pointCloudDataZ = (int16_t*)k4a_image_get_buffer(colorPointCloudImageZ);
for (int i = 0; i < nColorFrameHeight; i++)
{
for (int j = 0; j < nColorFrameWidth; j++)
{
pCameraSpacePoints[j + i * nColorFrameWidth].X = pointCloudDataX[j + i * nColorFrameWidth + 0] / 1000.0f;
pCameraSpacePoints[j + i * nColorFrameWidth].Y = pointCloudDataY[j + i * nColorFrameWidth + 1] / 1000.0f;
pCameraSpacePoints[j + i * nColorFrameWidth].Z = pointCloudDataZ[j + i * nColorFrameWidth + 2] / 1000.0f;
}
}
k4a_image_release(colorPointCloudImageX);
k4a_image_release(colorPointCloudImageY);
k4a_image_release(colorPointCloudImageZ);
k4a_image_release(dummy_output_image);
k4a_image_release(depthPointCloudX);
k4a_image_release(depthPointCloudY);
k4a_image_release(depthPointCloudZ);
}
void AzureKinectCapture::MapDepthFrameToColorSpace(UINT16 *pDepthInColorSpace)
{
if (depthImageInColor == NULL)
{
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16, nColorFrameWidth, nColorFrameHeight,
nColorFrameWidth * (int)sizeof(uint16_t),
&depthImageInColor);
}
k4a_transformation_depth_image_to_color_camera(transformation, depthImage, depthImageInColor);
memcpy(pDepthInColorSpace, k4a_image_get_buffer(depthImageInColor), nColorFrameHeight * nColorFrameWidth * (int)sizeof(uint16_t));
}
void AzureKinectCapture::MapColorFrameToDepthSpace(RGB *pColorInDepthSpace)
{
if (colorImageInDepth == NULL)
{
k4a_image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32, nDepthFrameWidth, nDepthFrameHeight,
nDepthFrameWidth * 4 * (int)sizeof(uint8_t),
&colorImageInDepth);
}
k4a_transformation_color_image_to_depth_camera(transformation, depthImage, colorImage, colorImageInDepth);
memcpy(pColorInDepthSpace, k4a_image_get_buffer(colorImageInDepth), nDepthFrameHeight * nDepthFrameWidth * 4 * (int)sizeof(uint8_t));
}
src/LiveScanClient/calibration.cpp
+2 -3
View File
@@ -14,7 +14,6 @@
// } // }
#include "calibration.h" #include "calibration.h"
#include "Kinect.h"
#include "opencv\cv.h" #include "opencv\cv.h"
#include <fstream> #include <fstream>
@@ -92,7 +91,7 @@ bool Calibration::Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColo
marker3D[i].Z += marker3DSamples[j][i].Z / (float)nRequiredSamples; marker3D[i].Z += marker3DSamples[j][i].Z / (float)nRequiredSamples;
} }
} }
Procrustes(marker, marker3D, worldT, worldR); Procrustes(marker, marker3D, worldT, worldR);
vector<vector<float>> Rcopy = worldR; vector<vector<float>> Rcopy = worldR;
@@ -262,7 +261,7 @@ bool Calibration::GetMarkerCorners3D(vector<Point3f> &marker3D, MarkerInfo &mark
Point3f pointXMinYMax = pCameraCoordinates[minX + maxY * cColorWidth]; Point3f pointXMinYMax = pCameraCoordinates[minX + maxY * cColorWidth];
Point3f pointMax = pCameraCoordinates[maxX + maxY * cColorWidth]; Point3f pointMax = pCameraCoordinates[maxX + maxY * cColorWidth];
if (pointMin.Z < 0 || pointXMaxYMin.Z < 0 || pointXMinYMax.Z < 0 || pointMax.Z < 0) if (pointMin.Z <= 0 || pointXMaxYMin.Z <= 0 || pointXMinYMax.Z <= 0 || pointMax.Z <= 0)
return false; return false;
marker3D[i].X = (1 - dx) * (1 - dy) * pointMin.X + dx * (1 - dy) * pointXMaxYMin.X + (1 - dx) * dy * pointXMinYMax.X + dx * dy * pointMax.X; marker3D[i].X = (1 - dx) * (1 - dy) * pointMin.X + dx * (1 - dy) * pointXMaxYMin.X + (1 - dx) * dy * pointXMinYMax.X + dx * dy * pointMax.X;
src/LiveScanClient/imageRenderer.cpp
+97 -97
View File
@@ -10,12 +10,12 @@
/// <summary> /// <summary>
/// Constructor /// Constructor
/// </summary> /// </summary>
ImageRenderer::ImageRenderer() : ImageRenderer::ImageRenderer() :
m_hWnd(0), m_hWnd(0),
m_sourceWidth(0), m_sourceWidth(0),
m_sourceHeight(0), m_sourceHeight(0),
m_sourceStride(0), m_sourceStride(0),
m_pD2DFactory(NULL), m_pD2DFactory(NULL),
m_pRenderTarget(NULL), m_pRenderTarget(NULL),
m_pBitmap(0) m_pBitmap(0)
{ {
@@ -70,9 +70,9 @@ HRESULT ImageRenderer::EnsureResources()
// Create a bitmap that we can copy image data into and then render to the target // Create a bitmap that we can copy image data into and then render to the target
hr = m_pRenderTarget->CreateBitmap( hr = m_pRenderTarget->CreateBitmap(
size, size,
D2D1::BitmapProperties(D2D1::PixelFormat(DXGI_FORMAT_B8G8R8A8_UNORM, D2D1_ALPHA_MODE_IGNORE)), D2D1::BitmapProperties(D2D1::PixelFormat(DXGI_FORMAT_B8G8R8A8_UNORM, D2D1_ALPHA_MODE_IGNORE)),
&m_pBitmap &m_pBitmap
); );
if (FAILED(hr)) if (FAILED(hr))
@@ -86,7 +86,7 @@ HRESULT ImageRenderer::EnsureResources()
} }
/// <summary> /// <summary>
/// Dispose of Direct2d resources /// Dispose of Direct2d resources
/// </summary> /// </summary>
void ImageRenderer::DiscardResources() void ImageRenderer::DiscardResources()
{ {
@@ -149,7 +149,7 @@ HRESULT ImageRenderer::Draw(BYTE* pImage, unsigned long cbImage, std::vector<Bod
{ {
return hr; return hr;
} }
// Copy the image that was passed in into the direct2d bitmap // Copy the image that was passed in into the direct2d bitmap
hr = m_pBitmap->CopyFromMemory(NULL, pImage, m_sourceStride); hr = m_pBitmap->CopyFromMemory(NULL, pImage, m_sourceStride);
@@ -157,17 +157,17 @@ HRESULT ImageRenderer::Draw(BYTE* pImage, unsigned long cbImage, std::vector<Bod
{ {
return hr; return hr;
} }
m_pRenderTarget->BeginDraw(); m_pRenderTarget->BeginDraw();
// Draw the bitmap stretched to the size of the window // Draw the bitmap stretched to the size of the window
m_pRenderTarget->DrawBitmap(m_pBitmap); m_pRenderTarget->DrawBitmap(m_pBitmap);
for (unsigned int i = 0; i < vBodies.size(); i++) for (unsigned int i = 0; i < vBodies.size(); i++)
{ {
if (vBodies[i].bTracked) if (vBodies[i].bTracked)
{ {
DrawBody(vBodies[i]); //DrawBody(vBodies[i]);
} }
} }
@@ -188,62 +188,62 @@ HRESULT ImageRenderer::Draw(BYTE* pImage, unsigned long cbImage, std::vector<Bod
/// Draws all the body to the associated hwnd, assumes that BeginDraw has been called /// Draws all the body to the associated hwnd, assumes that BeginDraw has been called
/// </summary> /// </summary>
/// <param name="body">body to be drawn</param> /// <param name="body">body to be drawn</param>
void ImageRenderer::DrawBody(Body &body) //void ImageRenderer::DrawBody(Body &body)
{ //{
// Draw the bones // // Draw the bones
//
// Torso // // Torso
DrawBone(body, JointType_Head, JointType_Neck); // DrawBone(body, JointType_Head, JointType_Neck);
DrawBone(body, JointType_Neck, JointType_SpineShoulder); // DrawBone(body, JointType_Neck, JointType_SpineShoulder);
DrawBone(body, JointType_SpineShoulder, JointType_SpineMid); // DrawBone(body, JointType_SpineShoulder, JointType_SpineMid);
DrawBone(body, JointType_SpineMid, JointType_SpineBase); // DrawBone(body, JointType_SpineMid, JointType_SpineBase);
DrawBone(body, JointType_SpineShoulder, JointType_ShoulderRight); // DrawBone(body, JointType_SpineShoulder, JointType_ShoulderRight);
DrawBone(body, JointType_SpineShoulder, JointType_ShoulderLeft); // DrawBone(body, JointType_SpineShoulder, JointType_ShoulderLeft);
DrawBone(body, JointType_SpineBase, JointType_HipRight); // DrawBone(body, JointType_SpineBase, JointType_HipRight);
DrawBone(body, JointType_SpineBase, JointType_HipLeft); // DrawBone(body, JointType_SpineBase, JointType_HipLeft);
//
// Right Arm // // Right Arm
DrawBone(body, JointType_ShoulderRight, JointType_ElbowRight); // DrawBone(body, JointType_ShoulderRight, JointType_ElbowRight);
DrawBone(body, JointType_ElbowRight, JointType_WristRight); // DrawBone(body, JointType_ElbowRight, JointType_WristRight);
DrawBone(body, JointType_WristRight, JointType_HandRight); // DrawBone(body, JointType_WristRight, JointType_HandRight);
DrawBone(body, JointType_HandRight, JointType_HandTipRight); // DrawBone(body, JointType_HandRight, JointType_HandTipRight);
DrawBone(body, JointType_WristRight, JointType_ThumbRight); // DrawBone(body, JointType_WristRight, JointType_ThumbRight);
//
// Left Arm // // Left Arm
DrawBone(body, JointType_ShoulderLeft, JointType_ElbowLeft); // DrawBone(body, JointType_ShoulderLeft, JointType_ElbowLeft);
DrawBone(body, JointType_ElbowLeft, JointType_WristLeft); // DrawBone(body, JointType_ElbowLeft, JointType_WristLeft);
DrawBone(body, JointType_WristLeft, JointType_HandLeft); // DrawBone(body, JointType_WristLeft, JointType_HandLeft);
DrawBone(body, JointType_HandLeft, JointType_HandTipLeft); // DrawBone(body, JointType_HandLeft, JointType_HandTipLeft);
DrawBone(body, JointType_WristLeft, JointType_ThumbLeft); // DrawBone(body, JointType_WristLeft, JointType_ThumbLeft);
//
// Right Leg // // Right Leg
DrawBone(body, JointType_HipRight, JointType_KneeRight); // DrawBone(body, JointType_HipRight, JointType_KneeRight);
DrawBone(body, JointType_KneeRight, JointType_AnkleRight); // DrawBone(body, JointType_KneeRight, JointType_AnkleRight);
DrawBone(body, JointType_AnkleRight, JointType_FootRight); // DrawBone(body, JointType_AnkleRight, JointType_FootRight);
//
// Left Leg // // Left Leg
DrawBone(body, JointType_HipLeft, JointType_KneeLeft); // DrawBone(body, JointType_HipLeft, JointType_KneeLeft);
DrawBone(body, JointType_KneeLeft, JointType_AnkleLeft); // DrawBone(body, JointType_KneeLeft, JointType_AnkleLeft);
DrawBone(body, JointType_AnkleLeft, JointType_FootLeft); // DrawBone(body, JointType_AnkleLeft, JointType_FootLeft);
//
for (unsigned int i = 0; i < body.vJoints.size(); i++) // for (unsigned int i = 0; i < body.vJoints.size(); i++)
{ // {
D2D1_POINT_2F tempPoint; // D2D1_POINT_2F tempPoint;
tempPoint.x = body.vJointsInColorSpace[i].X; // tempPoint.x = body.vJointsInColorSpace[i].X;
tempPoint.y = body.vJointsInColorSpace[i].Y; // tempPoint.y = body.vJointsInColorSpace[i].Y;
//
D2D1_ELLIPSE ellipse = D2D1::Ellipse(tempPoint, 6.0f, 6.0f); // D2D1_ELLIPSE ellipse = D2D1::Ellipse(tempPoint, 6.0f, 6.0f);
//
if (body.vJoints[i].TrackingState == TrackingState_Inferred) // if (body.vJoints[i].TrackingState == TrackingState_Inferred)
{ // {
m_pRenderTarget->FillEllipse(ellipse, m_pBrushJointInferred); // m_pRenderTarget->FillEllipse(ellipse, m_pBrushJointInferred);
} // }
else if (body.vJoints[i].TrackingState == TrackingState_Tracked) // else if (body.vJoints[i].TrackingState == TrackingState_Tracked)
{ // {
m_pRenderTarget->FillEllipse(ellipse, m_pBrushJointTracked); // m_pRenderTarget->FillEllipse(ellipse, m_pBrushJointTracked);
} // }
} // }
} //}
/// <summary> /// <summary>
/// Draws one bone of a body (joint to joint) /// Draws one bone of a body (joint to joint)
@@ -251,35 +251,35 @@ void ImageRenderer::DrawBody(Body &body)
/// <param name="body">body to be drawn</param> /// <param name="body">body to be drawn</param>
/// <param name="joint0">one joint of the bone to draw</param> /// <param name="joint0">one joint of the bone to draw</param>
/// <param name="joint1">other joint of the bone to draw</param> /// <param name="joint1">other joint of the bone to draw</param>
void ImageRenderer::DrawBone(Body &body, JointType joint0, JointType joint1) //void ImageRenderer::DrawBone(Body &body, JointType joint0, JointType joint1)
{ //{
TrackingState joint0State = body.vJoints[joint0].TrackingState; // TrackingState joint0State = body.vJoints[joint0].TrackingState;
TrackingState joint1State = body.vJoints[joint1].TrackingState; // TrackingState joint1State = body.vJoints[joint1].TrackingState;
//
// If we can't find either of these joints, exit // // If we can't find either of these joints, exit
if ((joint0State == TrackingState_NotTracked) || (joint1State == TrackingState_NotTracked)) // if ((joint0State == TrackingState_NotTracked) || (joint1State == TrackingState_NotTracked))
{ // {
return; // return;
} // }
//
// Don't draw if both points are inferred // // Don't draw if both points are inferred
if ((joint0State == TrackingState_Inferred) && (joint1State == TrackingState_Inferred)) // if ((joint0State == TrackingState_Inferred) && (joint1State == TrackingState_Inferred))
{ // {
return; // return;
} // }
//
D2D1_POINT_2F joint0Point, joint1Point; // D2D1_POINT_2F joint0Point, joint1Point;
joint0Point.x = body.vJointsInColorSpace[joint0].X; // joint0Point.x = body.vJointsInColorSpace[joint0].X;
joint0Point.y = body.vJointsInColorSpace[joint0].Y; // joint0Point.y = body.vJointsInColorSpace[joint0].Y;
joint1Point.x = body.vJointsInColorSpace[joint1].X; // joint1Point.x = body.vJointsInColorSpace[joint1].X;
joint1Point.y = body.vJointsInColorSpace[joint1].Y; // joint1Point.y = body.vJointsInColorSpace[joint1].Y;
// We assume all drawn bones are inferred unless BOTH joints are tracked // // We assume all drawn bones are inferred unless BOTH joints are tracked
if ((joint0State == TrackingState_Tracked) && (joint1State == TrackingState_Tracked)) // if ((joint0State == TrackingState_Tracked) && (joint1State == TrackingState_Tracked))
{ // {
m_pRenderTarget->DrawLine(joint0Point, joint1Point, m_pBrushBoneTracked, 10.0f); // m_pRenderTarget->DrawLine(joint0Point, joint1Point, m_pBrushBoneTracked, 10.0f);
} // }
else // else
{ // {
m_pRenderTarget->DrawLine(joint0Point, joint1Point, m_pBrushBoneInferred, 3); // m_pRenderTarget->DrawLine(joint0Point, joint1Point, m_pBrushBoneInferred, 3);
} // }
} //}
src/LiveScanClient/kinectCapture.cpp
-250
View File
@@ -1,250 +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},
// }
#include "KinectCapture.h"
#include <chrono>
KinectCapture::KinectCapture()
{
pKinectSensor = NULL;
pCoordinateMapper = NULL;
pMultiSourceFrameReader = NULL;
}
KinectCapture::~KinectCapture()
{
SafeRelease(pKinectSensor);
SafeRelease(pCoordinateMapper);
SafeRelease(pMultiSourceFrameReader);
}
bool KinectCapture::Initialize()
{
HRESULT hr;
hr = GetDefaultKinectSensor(&pKinectSensor);
if (FAILED(hr))
{
bInitialized = false;
return bInitialized;
}
if (pKinectSensor)
{
pKinectSensor->get_CoordinateMapper(&pCoordinateMapper);
hr = pKinectSensor->Open();
if (SUCCEEDED(hr))
{
pKinectSensor->OpenMultiSourceFrameReader(FrameSourceTypes::FrameSourceTypes_Color |
FrameSourceTypes::FrameSourceTypes_Depth |
FrameSourceTypes::FrameSourceTypes_Body |
FrameSourceTypes::FrameSourceTypes_BodyIndex,
&pMultiSourceFrameReader);
}
}
bInitialized = SUCCEEDED(hr);
if (bInitialized)
{
std::chrono::time_point<std::chrono::system_clock> start = std::chrono::system_clock::now();
bool bTemp;
do
{
bTemp = AcquireFrame();
std::chrono::duration<double> elapsedSeconds = std::chrono::system_clock::now() - start;
if (elapsedSeconds.count() > 5.0)
{
bInitialized = false;
break;
}
} while (!bTemp);
}
return bInitialized;
}
bool KinectCapture::AcquireFrame()
{
if (!bInitialized)
{
return false;
}
//Multi frame
IMultiSourceFrame* pMultiFrame = NULL;
HRESULT hr = pMultiSourceFrameReader->AcquireLatestFrame(&pMultiFrame);
if (!SUCCEEDED(hr))
{
return false;
}
GetDepthFrame(pMultiFrame);
GetColorFrame(pMultiFrame);
GetBodyFrame(pMultiFrame);
GetBodyIndexFrame(pMultiFrame);
SafeRelease(pMultiFrame);
return true;
}
void KinectCapture::MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints)
{
pCoordinateMapper->MapDepthFrameToCameraSpace(nDepthFrameWidth * nDepthFrameHeight, pDepth, nDepthFrameWidth * nDepthFrameHeight, (CameraSpacePoint*)pCameraSpacePoints);
}
void KinectCapture::MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints)
{
pCoordinateMapper->MapColorFrameToCameraSpace(nDepthFrameWidth * nDepthFrameHeight, pDepth, nColorFrameWidth * nColorFrameHeight, (CameraSpacePoint*)pCameraSpacePoints);
}
void KinectCapture::MapDepthFrameToColorSpace(Point2f *pColorSpacePoints)
{
pCoordinateMapper->MapDepthFrameToColorSpace(nDepthFrameWidth * nDepthFrameHeight, pDepth, nDepthFrameWidth * nDepthFrameHeight, (ColorSpacePoint*)pColorSpacePoints);
}
void KinectCapture::MapColorFrameToDepthSpace(Point2f *pDepthSpacePoints)
{
pCoordinateMapper->MapColorFrameToDepthSpace(nDepthFrameWidth * nDepthFrameHeight, pDepth, nColorFrameWidth * nColorFrameHeight, (DepthSpacePoint*)pDepthSpacePoints);;
}
void KinectCapture::GetDepthFrame(IMultiSourceFrame* pMultiFrame)
{
IDepthFrameReference* pDepthFrameReference = NULL;
IDepthFrame* pDepthFrame = NULL;
pMultiFrame->get_DepthFrameReference(&pDepthFrameReference);
HRESULT hr = pDepthFrameReference->AcquireFrame(&pDepthFrame);
if (SUCCEEDED(hr))
{
if (pDepth == NULL)
{
IFrameDescription* pFrameDescription = NULL;
hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
pFrameDescription->get_Width(&nDepthFrameWidth);
pFrameDescription->get_Height(&nDepthFrameHeight);
pDepth = new UINT16[nDepthFrameHeight * nDepthFrameWidth];
SafeRelease(pFrameDescription);
}
UINT nBufferSize = nDepthFrameHeight * nDepthFrameWidth;
hr = pDepthFrame->CopyFrameDataToArray(nBufferSize, pDepth);
}
SafeRelease(pDepthFrame);
SafeRelease(pDepthFrameReference);
}
void KinectCapture::GetColorFrame(IMultiSourceFrame* pMultiFrame)
{
IColorFrameReference* pColorFrameReference = NULL;
IColorFrame* pColorFrame = NULL;
pMultiFrame->get_ColorFrameReference(&pColorFrameReference);
HRESULT hr = pColorFrameReference->AcquireFrame(&pColorFrame);
if (SUCCEEDED(hr))
{
if (pColorRGBX == NULL)
{
IFrameDescription* pFrameDescription = NULL;
hr = pColorFrame->get_FrameDescription(&pFrameDescription);
hr = pFrameDescription->get_Width(&nColorFrameWidth);
hr = pFrameDescription->get_Height(&nColorFrameHeight);
pColorRGBX = new RGB[nColorFrameWidth * nColorFrameHeight];
SafeRelease(pFrameDescription);
}
UINT nBufferSize = nColorFrameWidth * nColorFrameHeight * sizeof(RGB);
hr = pColorFrame->CopyConvertedFrameDataToArray(nBufferSize, reinterpret_cast<BYTE*>(pColorRGBX), ColorImageFormat_Bgra);
}
SafeRelease(pColorFrame);
SafeRelease(pColorFrameReference);
}
void KinectCapture::GetBodyFrame(IMultiSourceFrame* pMultiFrame)
{
IBodyFrameReference* pBodyFrameReference = NULL;
IBodyFrame* pBodyFrame = NULL;
pMultiFrame->get_BodyFrameReference(&pBodyFrameReference);
HRESULT hr = pBodyFrameReference->AcquireFrame(&pBodyFrame);
if (SUCCEEDED(hr))
{
IBody* bodies[BODY_COUNT] = { NULL };
pBodyFrame->GetAndRefreshBodyData(BODY_COUNT, bodies);
vBodies = std::vector<Body>(BODY_COUNT);
for (int i = 0; i < BODY_COUNT; i++)
{
if (bodies[i])
{
Joint joints[JointType_Count];
BOOLEAN isTracked;
bodies[i]->get_IsTracked(&isTracked);
bodies[i]->GetJoints(JointType_Count, joints);
vBodies[i].vJoints.assign(joints, joints + JointType_Count);
if (isTracked == TRUE)
vBodies[i].bTracked = true;
else
vBodies[i].bTracked = false;
vBodies[i].vJointsInColorSpace.resize(JointType_Count);
for (int j = 0; j < JointType_Count; j++)
{
ColorSpacePoint tempPoint;
pCoordinateMapper->MapCameraPointToColorSpace(joints[j].Position, &tempPoint);
vBodies[i].vJointsInColorSpace[j].X = tempPoint.X;
vBodies[i].vJointsInColorSpace[j].Y = tempPoint.Y;
}
}
}
}
SafeRelease(pBodyFrame);
SafeRelease(pBodyFrameReference);
}
void KinectCapture::GetBodyIndexFrame(IMultiSourceFrame* pMultiFrame)
{
IBodyIndexFrameReference* pBodyIndexFrameReference = NULL;
IBodyIndexFrame* pBodyIndexFrame = NULL;
pMultiFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
HRESULT hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
if (SUCCEEDED(hr))
{
if (pBodyIndex == NULL)
{
pBodyIndex = new BYTE[nDepthFrameHeight * nDepthFrameWidth];
}
UINT nBufferSize = nDepthFrameHeight * nDepthFrameWidth;
hr = pBodyIndexFrame->CopyFrameDataToArray(nBufferSize, pBodyIndex);
}
SafeRelease(pBodyIndexFrame);
SafeRelease(pBodyIndexFrameReference);
}
src/LiveScanClient/liveScanClient.cpp
+75 -87
View File
@@ -23,7 +23,7 @@
std::mutex m_mSocketThreadMutex; std::mutex m_mSocketThreadMutex;
int APIENTRY wWinMain( int APIENTRY wWinMain(
_In_ HINSTANCE hInstance, _In_ HINSTANCE hInstance,
_In_opt_ HINSTANCE hPrevInstance, _In_opt_ HINSTANCE hPrevInstance,
_In_ LPWSTR lpCmdLine, _In_ LPWSTR lpCmdLine,
@@ -47,8 +47,8 @@ LiveScanClient::LiveScanClient() :
m_pDrawColor(NULL), m_pDrawColor(NULL),
m_pDepthRGBX(NULL), m_pDepthRGBX(NULL),
m_pCameraSpaceCoordinates(NULL), m_pCameraSpaceCoordinates(NULL),
m_pColorCoordinatesOfDepth(NULL), m_pColorInDepthSpace(NULL),
m_pDepthCoordinatesOfColor(NULL), m_pDepthInColorSpace(NULL),
m_bCalibrate(false), m_bCalibrate(false),
m_bFilter(false), m_bFilter(false),
m_bStreamOnlyBodies(false), m_bStreamOnlyBodies(false),
@@ -64,7 +64,7 @@ LiveScanClient::LiveScanClient() :
m_nFilterNeighbors(10), m_nFilterNeighbors(10),
m_fFilterThreshold(0.01f) m_fFilterThreshold(0.01f)
{ {
pCapture = new KinectCapture(); pCapture = new AzureKinectCapture();
LARGE_INTEGER qpf = {0}; LARGE_INTEGER qpf = {0};
if (QueryPerformanceFrequency(&qpf)) if (QueryPerformanceFrequency(&qpf))
@@ -81,7 +81,7 @@ LiveScanClient::LiveScanClient() :
calibration.LoadCalibration(); calibration.LoadCalibration();
} }
LiveScanClient::~LiveScanClient() LiveScanClient::~LiveScanClient()
{ {
// clean up Direct2D renderer // clean up Direct2D renderer
@@ -109,16 +109,16 @@ LiveScanClient::~LiveScanClient()
m_pCameraSpaceCoordinates = NULL; m_pCameraSpaceCoordinates = NULL;
} }
if (m_pColorCoordinatesOfDepth) if (m_pColorInDepthSpace)
{ {
delete[] m_pColorCoordinatesOfDepth; delete[] m_pColorInDepthSpace;
m_pColorCoordinatesOfDepth = NULL; m_pColorInDepthSpace = NULL;
} }
if (m_pDepthCoordinatesOfColor) if (m_pDepthInColorSpace)
{ {
delete[] m_pDepthCoordinatesOfColor; delete[] m_pDepthInColorSpace;
m_pDepthCoordinatesOfColor = NULL; m_pDepthInColorSpace = NULL;
} }
if (m_pClientSocket) if (m_pClientSocket)
@@ -154,7 +154,7 @@ int LiveScanClient::Run(HINSTANCE hInstance, int nCmdShow)
NULL, NULL,
MAKEINTRESOURCE(IDD_APP), MAKEINTRESOURCE(IDD_APP),
NULL, NULL,
(DLGPROC)LiveScanClient::MessageRouter, (DLGPROC)LiveScanClient::MessageRouter,
reinterpret_cast<LPARAM>(this)); reinterpret_cast<LPARAM>(this));
// Show window // Show window
@@ -185,8 +185,6 @@ int LiveScanClient::Run(HINSTANCE hInstance, int nCmdShow)
return static_cast<int>(msg.wParam); return static_cast<int>(msg.wParam);
} }
void LiveScanClient::UpdateFrame() void LiveScanClient::UpdateFrame()
{ {
if (!pCapture->bInitialized) if (!pCapture->bInitialized)
@@ -200,10 +198,10 @@ void LiveScanClient::UpdateFrame()
return; return;
pCapture->MapDepthFrameToCameraSpace(m_pCameraSpaceCoordinates); pCapture->MapDepthFrameToCameraSpace(m_pCameraSpaceCoordinates);
pCapture->MapDepthFrameToColorSpace(m_pColorCoordinatesOfDepth); pCapture->MapColorFrameToDepthSpace(m_pColorInDepthSpace);
{ {
std::lock_guard<std::mutex> lock(m_mSocketThreadMutex); std::lock_guard<std::mutex> lock(m_mSocketThreadMutex);
StoreFrame(m_pCameraSpaceCoordinates, m_pColorCoordinatesOfDepth, pCapture->pColorRGBX, pCapture->vBodies, pCapture->pBodyIndex); StoreFrame(m_pCameraSpaceCoordinates, m_pColorInDepthSpace, pCapture->vBodies, pCapture->pBodyIndex);
if (m_bCaptureFrame) if (m_bCaptureFrame)
{ {
@@ -214,7 +212,7 @@ void LiveScanClient::UpdateFrame()
} }
if (m_bCalibrate) if (m_bCalibrate)
{ {
std::lock_guard<std::mutex> lock(m_mSocketThreadMutex); std::lock_guard<std::mutex> lock(m_mSocketThreadMutex);
Point3f *pCameraCoordinates = new Point3f[pCapture->nColorFrameWidth * pCapture->nColorFrameHeight]; Point3f *pCameraCoordinates = new Point3f[pCapture->nColorFrameWidth * pCapture->nColorFrameHeight];
pCapture->MapColorFrameToCameraSpace(pCameraCoordinates); pCapture->MapColorFrameToCameraSpace(pCameraCoordinates);
@@ -231,9 +229,9 @@ void LiveScanClient::UpdateFrame()
} }
if (!m_bShowDepth) if (!m_bShowDepth)
ProcessColor(pCapture->pColorRGBX, pCapture->nColorFrameWidth, pCapture->nColorFrameHeight); ShowColor();
else else
ProcessDepth(pCapture->pDepth, pCapture->nDepthFrameWidth, pCapture->nDepthFrameHeight); ShowDepth();
ShowFPS(); ShowFPS();
} }
@@ -241,7 +239,7 @@ void LiveScanClient::UpdateFrame()
LRESULT CALLBACK LiveScanClient::MessageRouter(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam) LRESULT CALLBACK LiveScanClient::MessageRouter(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam)
{ {
LiveScanClient* pThis = NULL; LiveScanClient* pThis = NULL;
if (WM_INITDIALOG == uMsg) if (WM_INITDIALOG == uMsg)
{ {
pThis = reinterpret_cast<LiveScanClient*>(lParam); pThis = reinterpret_cast<LiveScanClient*>(lParam);
@@ -280,10 +278,10 @@ LRESULT CALLBACK LiveScanClient::DlgProc(HWND hWnd, UINT message, WPARAM wParam,
if (res) if (res)
{ {
m_pDepthRGBX = new RGB[pCapture->nColorFrameWidth * pCapture->nColorFrameHeight]; m_pDepthRGBX = new RGB[pCapture->nColorFrameWidth * pCapture->nColorFrameHeight];
m_pDepthInColorSpace = new UINT16[pCapture->nColorFrameWidth * pCapture->nColorFrameHeight];
m_pCameraSpaceCoordinates = new Point3f[pCapture->nDepthFrameWidth * pCapture->nDepthFrameHeight]; m_pCameraSpaceCoordinates = new Point3f[pCapture->nDepthFrameWidth * pCapture->nDepthFrameHeight];
m_pColorCoordinatesOfDepth = new Point2f[pCapture->nDepthFrameWidth * pCapture->nDepthFrameHeight]; m_pColorInDepthSpace = new RGB[pCapture->nDepthFrameWidth * pCapture->nDepthFrameHeight];
m_pDepthCoordinatesOfColor = new Point2f[pCapture->nColorFrameWidth * pCapture->nColorFrameHeight];
} }
else else
{ {
@@ -305,15 +303,15 @@ LRESULT CALLBACK LiveScanClient::DlgProc(HWND hWnd, UINT message, WPARAM wParam,
break; break;
// If the titlebar X is clicked, destroy app // If the titlebar X is clicked, destroy app
case WM_CLOSE: case WM_CLOSE:
WriteIPToFile(); WriteIPToFile();
DestroyWindow(hWnd); DestroyWindow(hWnd);
break; break;
case WM_DESTROY: case WM_DESTROY:
// Quit the main message pump // Quit the main message pump
PostQuitMessage(0); PostQuitMessage(0);
break; break;
// Handle button press // Handle button press
case WM_COMMAND: case WM_COMMAND:
if (IDC_BUTTON_CONNECT == LOWORD(wParam) && BN_CLICKED == HIWORD(wParam)) if (IDC_BUTTON_CONNECT == LOWORD(wParam) && BN_CLICKED == HIWORD(wParam))
@@ -368,27 +366,17 @@ LRESULT CALLBACK LiveScanClient::DlgProc(HWND hWnd, UINT message, WPARAM wParam,
return FALSE; return FALSE;
} }
void LiveScanClient::ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight) void LiveScanClient::ShowDepth()
{ {
// Make sure we've received valid data // Make sure we've received valid data
if (m_pDepthRGBX && m_pDepthCoordinatesOfColor && pBuffer && (nWidth == pCapture->nDepthFrameWidth) && (nHeight == pCapture->nDepthFrameHeight)) if (m_pDepthRGBX && m_pDepthInColorSpace)
{ {
// end pixel is start + width*height - 1 pCapture->MapDepthFrameToColorSpace(m_pDepthInColorSpace);
const UINT16* pBufferEnd = pBuffer + (nWidth * nHeight);
pCapture->MapColorFrameToDepthSpace(m_pDepthCoordinatesOfColor);
for (int i = 0; i < pCapture->nColorFrameWidth * pCapture->nColorFrameHeight; i++) for (int i = 0; i < pCapture->nColorFrameWidth * pCapture->nColorFrameHeight; i++)
{ {
Point2f depthPoint = m_pDepthCoordinatesOfColor[i]; USHORT depth = m_pDepthInColorSpace[i];
BYTE intensity = 0; BYTE intensity = static_cast<BYTE>(depth % 256);
if (depthPoint.X >= 0 && depthPoint.Y >= 0)
{
int depthIdx = (int)(depthPoint.X + depthPoint.Y * pCapture->nDepthFrameWidth);
USHORT depth = pBuffer[depthIdx];
intensity = static_cast<BYTE>(depth % 256);
}
m_pDepthRGBX[i].rgbRed = intensity; m_pDepthRGBX[i].rgbRed = intensity;
m_pDepthRGBX[i].rgbGreen = intensity; m_pDepthRGBX[i].rgbGreen = intensity;
@@ -400,13 +388,13 @@ void LiveScanClient::ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight
} }
} }
void LiveScanClient::ProcessColor(RGB* pBuffer, int nWidth, int nHeight) void LiveScanClient::ShowColor()
{ {
// Make sure we've received valid data // Make sure we've received valid data
if (pBuffer && (nWidth == pCapture->nColorFrameWidth) && (nHeight == pCapture->nColorFrameHeight)) if (pCapture->pColorRGBX)
{ {
// Draw the data with Direct2D // Draw the data with Direct2D
m_pDrawColor->Draw(reinterpret_cast<BYTE*>(pBuffer), pCapture->nColorFrameWidth * pCapture->nColorFrameHeight * sizeof(RGB), pCapture->vBodies); m_pDrawColor->Draw(reinterpret_cast<BYTE*>(pCapture->pColorRGBX), pCapture->nColorFrameWidth * pCapture->nColorFrameHeight * sizeof(RGB), pCapture->vBodies);
} }
} }
@@ -467,7 +455,7 @@ void LiveScanClient::HandleSocket()
bounds[j] = *(float*)(received.c_str() + i); bounds[j] = *(float*)(received.c_str() + i);
i += sizeof(float); i += sizeof(float);
} }
m_bFilter = (received[i]!=0); m_bFilter = (received[i]!=0);
i++; i++;
@@ -525,7 +513,7 @@ void LiveScanClient::HandleSocket()
m_pClientSocket->SendBytes(&byteToSend, 1); m_pClientSocket->SendBytes(&byteToSend, 1);
vector<Point3s> points; vector<Point3s> points;
vector<RGB> colors; vector<RGB> colors;
bool res = m_framesFileWriterReader.readFrame(points, colors); bool res = m_framesFileWriterReader.readFrame(points, colors);
if (res == false) if (res == false)
{ {
@@ -621,7 +609,7 @@ void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector
ptr2 += sizeof(short) * 3; ptr2 += sizeof(short) * 3;
pos += sizeof(short) * 3; pos += sizeof(short) * 3;
} }
int nBodies = body.size(); int nBodies = body.size();
size += sizeof(nBodies); size += sizeof(nBodies);
for (int i = 0; i < nBodies; i++) for (int i = 0; i < nBodies; i++)
@@ -633,7 +621,7 @@ void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector
size += nJoints * 2 * sizeof(float); size += nJoints * 2 * sizeof(float);
} }
buffer.resize(size); buffer.resize(size);
memcpy(buffer.data() + pos, &nBodies, sizeof(nBodies)); memcpy(buffer.data() + pos, &nBodies, sizeof(nBodies));
pos += sizeof(nBodies); pos += sizeof(nBodies);
@@ -648,24 +636,24 @@ void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector
for (int j = 0; j < nJoints; j++) for (int j = 0; j < nJoints; j++)
{ {
//Joint ////Joint
memcpy(buffer.data() + pos, &body[i].vJoints[j].JointType, sizeof(JointType)); //memcpy(buffer.data() + pos, &body[i].vJoints[j].JointType, sizeof(JointType));
pos += sizeof(JointType); //pos += sizeof(JointType);
memcpy(buffer.data() + pos, &body[i].vJoints[j].TrackingState, sizeof(TrackingState)); //memcpy(buffer.data() + pos, &body[i].vJoints[j].TrackingState, sizeof(TrackingState));
pos += sizeof(TrackingState); //pos += sizeof(TrackingState);
//Joint position ////Joint position
memcpy(buffer.data() + pos, &body[i].vJoints[j].Position.X, sizeof(float)); //memcpy(buffer.data() + pos, &body[i].vJoints[j].Position.X, sizeof(float));
pos += sizeof(float); //pos += sizeof(float);
memcpy(buffer.data() + pos, &body[i].vJoints[j].Position.Y, sizeof(float)); //memcpy(buffer.data() + pos, &body[i].vJoints[j].Position.Y, sizeof(float));
pos += sizeof(float); //pos += sizeof(float);
memcpy(buffer.data() + pos, &body[i].vJoints[j].Position.Z, sizeof(float)); //memcpy(buffer.data() + pos, &body[i].vJoints[j].Position.Z, sizeof(float));
pos += sizeof(float); //pos += sizeof(float);
//JointInColorSpace ////JointInColorSpace
memcpy(buffer.data() + pos, &body[i].vJointsInColorSpace[j].X, sizeof(float)); //memcpy(buffer.data() + pos, &body[i].vJointsInColorSpace[j].X, sizeof(float));
pos += sizeof(float); //pos += sizeof(float);
memcpy(buffer.data() + pos, &body[i].vJointsInColorSpace[j].Y, sizeof(float)); //memcpy(buffer.data() + pos, &body[i].vJointsInColorSpace[j].Y, sizeof(float));
pos += sizeof(float); //pos += sizeof(float);
} }
} }
@@ -673,12 +661,12 @@ void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector
if (m_bFrameCompression) if (m_bFrameCompression)
{ {
// *2, because according to zstd documentation, increasing the size of the output buffer above a // *2, because according to zstd documentation, increasing the size of the output buffer above a
// bound should speed up the compression. // bound should speed up the compression.
int cBuffSize = ZSTD_compressBound(size) * 2; int cBuffSize = ZSTD_compressBound(size) * 2;
vector<char> compressedBuffer(cBuffSize); vector<char> compressedBuffer(cBuffSize);
int cSize = ZSTD_compress(compressedBuffer.data(), cBuffSize, buffer.data(), size, m_iCompressionLevel); int cSize = ZSTD_compress(compressedBuffer.data(), cBuffSize, buffer.data(), size, m_iCompressionLevel);
size = cSize; size = cSize;
buffer = compressedBuffer; buffer = compressedBuffer;
} }
char header[8]; char header[8];
@@ -689,7 +677,7 @@ void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector
m_pClientSocket->SendBytes(buffer.data(), size); m_pClientSocket->SendBytes(buffer.data(), size);
} }
void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color, vector<Body> &bodies, BYTE* bodyIndex) void LiveScanClient::StoreFrame(Point3f *vertices, RGB *colorInDepth, vector<Body> &bodies, BYTE* bodyIndex)
{ {
std::vector<Point3f> goodVertices; std::vector<Point3f> goodVertices;
std::vector<RGB> goodColorPoints; std::vector<RGB> goodColorPoints;
@@ -701,10 +689,10 @@ void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color,
if (m_bStreamOnlyBodies && bodyIndex[vertexIndex] >= bodies.size()) if (m_bStreamOnlyBodies && bodyIndex[vertexIndex] >= bodies.size())
continue; continue;
if (vertices[vertexIndex].Z >= 0 && mapping[vertexIndex].Y >= 0 && mapping[vertexIndex].Y < pCapture->nColorFrameHeight) if (vertices[vertexIndex].Z >= 0 && colorInDepth[vertexIndex].rgbReserved == 255)
{ {
Point3f temp = vertices[vertexIndex]; Point3f temp = vertices[vertexIndex];
RGB tempColor = color[(int)mapping[vertexIndex].X + (int)mapping[vertexIndex].Y * pCapture->nColorFrameWidth]; RGB tempColor = colorInDepth[vertexIndex];
if (calibration.bCalibrated) if (calibration.bCalibrated)
{ {
temp.X += calibration.worldT[0]; temp.X += calibration.worldT[0];
@@ -725,26 +713,26 @@ void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color,
vector<Body> tempBodies = bodies; vector<Body> tempBodies = bodies;
for (unsigned int i = 0; i < tempBodies.size(); i++) //for (unsigned int i = 0; i < tempBodies.size(); i++)
{ //{
for (unsigned int j = 0; j < tempBodies[i].vJoints.size(); j++) // for (unsigned int j = 0; j < tempBodies[i].vJoints.size(); j++)
{ // {
if (calibration.bCalibrated) // if (calibration.bCalibrated)
{ // {
tempBodies[i].vJoints[j].Position.X += calibration.worldT[0]; // tempBodies[i].vJoints[j].Position.X += calibration.worldT[0];
tempBodies[i].vJoints[j].Position.Y += calibration.worldT[1]; // tempBodies[i].vJoints[j].Position.Y += calibration.worldT[1];
tempBodies[i].vJoints[j].Position.Z += calibration.worldT[2]; // tempBodies[i].vJoints[j].Position.Z += calibration.worldT[2];
Point3f tempPoint(tempBodies[i].vJoints[j].Position.X, tempBodies[i].vJoints[j].Position.Y, tempBodies[i].vJoints[j].Position.Z); // Point3f tempPoint(tempBodies[i].vJoints[j].Position.X, tempBodies[i].vJoints[j].Position.Y, tempBodies[i].vJoints[j].Position.Z);
tempPoint = RotatePoint(tempPoint, calibration.worldR); // tempPoint = RotatePoint(tempPoint, calibration.worldR);
tempBodies[i].vJoints[j].Position.X = tempPoint.X; // tempBodies[i].vJoints[j].Position.X = tempPoint.X;
tempBodies[i].vJoints[j].Position.Y = tempPoint.Y; // tempBodies[i].vJoints[j].Position.Y = tempPoint.Y;
tempBodies[i].vJoints[j].Position.Z = tempPoint.Z; // tempBodies[i].vJoints[j].Position.Z = tempPoint.Z;
} // }
} // }
} //}
if (m_bFilter) if (m_bFilter)
filter(goodVertices, goodColorPoints, m_nFilterNeighbors, m_fFilterThreshold); filter(goodVertices, goodColorPoints, m_nFilterNeighbors, m_fFilterThreshold);