mirror of
https://github.com/storytold/LiveScan3D.git
synced 2026-10-09 00:09:58 +00:00
Christopher Remde
56 lines
1.6 KiB
C++
56 lines
1.6 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(SYNC_STATE state, int syncOffset);
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bool AcquireFrame();
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bool Close();
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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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int GetSyncJackState();
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uint64_t GetTimeStamp();
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int GetDeviceIndex();
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void SetExposureState(bool enableAutoExposure, int exposureStep);
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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 transformedDepthImage = 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 colorImageDownscaled = NULL;
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k4a_transformation_t transformationColorDownscaled = NULL;
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k4a_transformation_t transformation = NULL;
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int colorImageDownscaledWidth;
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int colorImageDownscaledHeight;
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bool syncInConnected = false;
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bool syncOutConnected = false;
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uint64_t currentTimeStamp = 0;
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SYNC_STATE syncState = Standalone;
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int deviceIDForRestart = -1;
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int restartAttempts = 0;
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bool autoExposureEnabled = true;
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int exposureTimeStep = 0;
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void UpdateDepthPointCloud();
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void UpdateDepthPointCloudForColorFrame();
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}; |