mirror of
https://github.com/storytold/LiveScan3D.git
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marek
112 lines
2.2 KiB
C++
112 lines
2.2 KiB
C++
// Copyright (C) 2015 Marek Kowalski (M.Kowalski@ire.pw.edu.pl), Jacek Naruniec (J.Naruniec@ire.pw.edu.pl)
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// License: MIT Software License See LICENSE.txt for the full license.
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// If you use this software in your research, then please use the following citation:
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// Kowalski, M.; Naruniec, J.; Daniluk, M.: "LiveScan3D: A Fast and Inexpensive 3D Data
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// Acquisition System for Multiple Kinect v2 Sensors". in 3D Vision (3DV), 2015 International Conference on, Lyon, France, 2015
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// @INPROCEEDINGS{Kowalski15,
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// author={Kowalski, M. and Naruniec, J. and Daniluk, M.},
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// booktitle={3D Vision (3DV), 2015 International Conference on},
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// title={LiveScan3D: A Fast and Inexpensive 3D Data Acquisition System for Multiple Kinect v2 Sensors},
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// year={2015},
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// }
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#pragma once
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#include "stdafx.h"
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#include <stdio.h>
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#include <string>
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#include <vector>
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enum INCOMING_MESSAGE_TYPE
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{
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MSG_CAPTURE_FRAME,
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MSG_CALIBRATE,
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MSG_RECEIVE_SETTINGS,
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MSG_REQUEST_STORED_FRAME,
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MSG_REQUEST_LAST_FRAME,
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MSG_RECEIVE_CALIBRATION,
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MSG_CLEAR_STORED_FRAMES
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};
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enum OUTGOING_MESSAGE_TYPE
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{
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MSG_CONFIRM_CAPTURED,
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MSG_CONFIRM_CALIBRATED,
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MSG_STORED_FRAME,
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MSG_LAST_FRAME
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};
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typedef struct Point3f
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{
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Point3f()
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{
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this->X = 0;
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this->Y = 0;
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this->Z = 0;
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}
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Point3f(float X, float Y, float Z)
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{
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this->X = X;
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this->Y = Y;
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this->Z = Z;
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}
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float X;
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float Y;
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float Z;
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} Point3f;
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typedef struct Point3s
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{
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Point3s()
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{
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this->X = 0;
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this->Y = 0;
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this->Z = 0;
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}
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Point3s(short X, short Y, short Z)
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{
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this->X = X;
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this->Y = Y;
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this->Z = Z;
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}
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//meters to milimeters
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Point3s(Point3f &other)
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{
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this->X = static_cast<short>(1000 * other.X);
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this->Y = static_cast<short>(1000 * other.Y);
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this->Z = static_cast<short>(1000 * other.Z);
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}
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short X;
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short Y;
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short Z;
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} Point3s;
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typedef struct Point2f
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{
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Point2f()
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{
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this->X = 0;
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this->Y = 0;
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}
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Point2f(float X, float Y)
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{
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this->X = X;
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this->Y = Y;
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}
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float X;
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float Y;
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} Point2f;
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typedef struct RGB
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{
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BYTE rgbBlue;
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BYTE rgbGreen;
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BYTE rgbRed;
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BYTE rgbReserved;
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} RGB;
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Point3f RotatePoint(Point3f &point, std::vector<std::vector<float>> &R);
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Point3f InverseRotatePoint(Point3f &point, std::vector<std::vector<float>> &R);
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