mirror of
https://github.com/storytold/LiveScan3D.git
synced 2026-10-09 00:09:58 +00:00
Christopher Remde
42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
#pragma once
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#include "stdafx.h"
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#include "ICapture.h"
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#include <k4a/k4a.h>
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#include <opencv2/opencv.hpp>
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#include "utils.h"
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#include <opencv2/core.hpp>
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#include <opencv2/imgproc.hpp>
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class AzureKinectCapture : public ICapture
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{
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public:
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AzureKinectCapture();
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~AzureKinectCapture();
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bool Initialize();
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bool AcquireFrame();
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void MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints);
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void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints);
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void MapDepthFrameToColorSpace(UINT16 *pDepthInColorSpace);
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void MapColorFrameToDepthSpace(RGB *pColorInDepthSpace);
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private:
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k4a_device_t kinectSensor = NULL;
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int32_t captureTimeoutMs = 1000;
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k4a_image_t colorImage = NULL;
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k4a_image_t depthImage = NULL;
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k4a_image_t pointCloudImage = NULL;
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k4a_image_t transformed_depth_image = NULL;
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k4a_image_t colorImageInDepth = NULL;
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k4a_image_t depthImageInColor = NULL;
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k4a_image_t color_image_downscaled = NULL;
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int color_image_downscaled_width;
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int color_image_downscaled_height;
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k4a_transformation_t transformation = NULL;
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k4a_transformation_t transformation_color_downscaled = NULL;
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cv::Mat color_to_opencv(const k4a_image_t im);
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void UpdateDepthPointCloud();
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void UpdateDepthPointCloudForColorFrame();
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}; |