Merge branch 'develop' into user/wensi/calibration_info
This commit is contained in:
Vincent Wen
GitHub
Коммит
d785f61d83
|
|
@ -5,9 +5,6 @@ add_subdirectory(calibration)
|
|||
add_subdirectory(enumerate)
|
||||
add_subdirectory(fastpointcloud)
|
||||
add_subdirectory(k4arecorder)
|
||||
add_subdirectory(k4aviewer)
|
||||
add_subdirectory(k4afastcapture_streaming)
|
||||
add_subdirectory(k4afastcapture_trigger)
|
||||
add_subdirectory(opencv_compatibility)
|
||||
add_subdirectory(snipits)
|
||||
add_subdirectory(streaming)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,61 @@
|
|||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio 15
|
||||
VisualStudioVersion = 15.0.28307.168
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "enumerate", "enumerate\enumerate.vcxproj", "{62BBF31D-B1EB-439C-8C2E-47B129640B7B}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "fastpointcloud", "fastpointcloud\fastpointcloud.vcxproj", "{30154D6B-3205-45DC-A1AA-287B37337179}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "k4arecorder", "k4arecorder\k4arecorder.vcxproj", "{92A1A302-5530-4944-869B-F8F4B1E4B1E4}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "streaming", "streaming\streaming.vcxproj", "{369B1FB5-256C-4B6E-8BDC-94F5A3B337A1}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "transformation", "transformation\transformation.vcxproj", "{5F1CF02B-67F7-4E5C-8CA3-EB059EAD450B}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "undistort", "undistort\undistort.vcxproj", "{2A3EC17F-FED3-4C9B-AFE2-78B16BD87981}"
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "opencv_compatibility", "opencv_compatibility\opencv_compatibility.vcxproj", "{4AFBA7D8-1AAA-4D97-90B9-43FAE4C26D47}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|x64 = Debug|x64
|
||||
Release|x64 = Release|x64
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{62BBF31D-B1EB-439C-8C2E-47B129640B7B}.Debug|x64.ActiveCfg = Debug|x64
|
||||
{62BBF31D-B1EB-439C-8C2E-47B129640B7B}.Debug|x64.Build.0 = Debug|x64
|
||||
{62BBF31D-B1EB-439C-8C2E-47B129640B7B}.Release|x64.ActiveCfg = Release|x64
|
||||
{62BBF31D-B1EB-439C-8C2E-47B129640B7B}.Release|x64.Build.0 = Release|x64
|
||||
{30154D6B-3205-45DC-A1AA-287B37337179}.Debug|x64.ActiveCfg = Debug|x64
|
||||
{30154D6B-3205-45DC-A1AA-287B37337179}.Debug|x64.Build.0 = Debug|x64
|
||||
{30154D6B-3205-45DC-A1AA-287B37337179}.Release|x64.ActiveCfg = Release|x64
|
||||
{30154D6B-3205-45DC-A1AA-287B37337179}.Release|x64.Build.0 = Release|x64
|
||||
{92A1A302-5530-4944-869B-F8F4B1E4B1E4}.Debug|x64.ActiveCfg = Debug|x64
|
||||
{92A1A302-5530-4944-869B-F8F4B1E4B1E4}.Debug|x64.Build.0 = Debug|x64
|
||||
{92A1A302-5530-4944-869B-F8F4B1E4B1E4}.Release|x64.ActiveCfg = Release|x64
|
||||
{92A1A302-5530-4944-869B-F8F4B1E4B1E4}.Release|x64.Build.0 = Release|x64
|
||||
{369B1FB5-256C-4B6E-8BDC-94F5A3B337A1}.Debug|x64.ActiveCfg = Debug|x64
|
||||
{369B1FB5-256C-4B6E-8BDC-94F5A3B337A1}.Debug|x64.Build.0 = Debug|x64
|
||||
{369B1FB5-256C-4B6E-8BDC-94F5A3B337A1}.Release|x64.ActiveCfg = Release|x64
|
||||
{369B1FB5-256C-4B6E-8BDC-94F5A3B337A1}.Release|x64.Build.0 = Release|x64
|
||||
{5F1CF02B-67F7-4E5C-8CA3-EB059EAD450B}.Debug|x64.ActiveCfg = Debug|x64
|
||||
{5F1CF02B-67F7-4E5C-8CA3-EB059EAD450B}.Debug|x64.Build.0 = Debug|x64
|
||||
{5F1CF02B-67F7-4E5C-8CA3-EB059EAD450B}.Release|x64.ActiveCfg = Release|x64
|
||||
{5F1CF02B-67F7-4E5C-8CA3-EB059EAD450B}.Release|x64.Build.0 = Release|x64
|
||||
{2A3EC17F-FED3-4C9B-AFE2-78B16BD87981}.Debug|x64.ActiveCfg = Debug|x64
|
||||
{2A3EC17F-FED3-4C9B-AFE2-78B16BD87981}.Debug|x64.Build.0 = Debug|x64
|
||||
{2A3EC17F-FED3-4C9B-AFE2-78B16BD87981}.Release|x64.ActiveCfg = Release|x64
|
||||
{2A3EC17F-FED3-4C9B-AFE2-78B16BD87981}.Release|x64.Build.0 = Release|x64
|
||||
{4AFBA7D8-1AAA-4D97-90B9-43FAE4C26D47}.Debug|x64.ActiveCfg = Debug|x64
|
||||
{4AFBA7D8-1AAA-4D97-90B9-43FAE4C26D47}.Debug|x64.Build.0 = Debug|x64
|
||||
{4AFBA7D8-1AAA-4D97-90B9-43FAE4C26D47}.Release|x64.ActiveCfg = Release|x64
|
||||
{4AFBA7D8-1AAA-4D97-90B9-43FAE4C26D47}.Release|x64.Build.0 = Release|x64
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
SolutionGuid = {7E9C9592-7A28-46EE-AFFB-BD148338895C}
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
|
|
@ -0,0 +1,90 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<VCProjectVersion>15.0</VCProjectVersion>
|
||||
<ProjectGuid>{62BBF31D-B1EB-439C-8C2E-47B129640B7B}</ProjectGuid>
|
||||
<RootNamespace>enumerate</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="Shared">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<LibraryPath>$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\lib;$(LibraryPath)</LibraryPath>
|
||||
<IncludePath>$(ProgramW6432)\Azure Kinect SDK\sdk\include;$(IncludePath)</IncludePath>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="main.c" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="readme.md" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
<Target Name="CopyFiles" AfterTargets="Build">
|
||||
<ItemGroup>
|
||||
<AzureKinectBinaries Include="$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\bin\**\*" />
|
||||
</ItemGroup>
|
||||
<Copy SourceFiles="@(AzureKinectBinaries)" DestinationFolder="$(OutputPath)" SkipUnchangedFiles="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
|
|
@ -0,0 +1,90 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<VCProjectVersion>15.0</VCProjectVersion>
|
||||
<ProjectGuid>{30154D6B-3205-45DC-A1AA-287B37337179}</ProjectGuid>
|
||||
<RootNamespace>fastpointcloud</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="Shared">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<LibraryPath>$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\lib;$(LibraryPath)</LibraryPath>
|
||||
<IncludePath>$(ProgramW6432)\Azure Kinect SDK\sdk\include;$(IncludePath)</IncludePath>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="main.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="README.md" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
<Target Name="CopyFiles" AfterTargets="Build">
|
||||
<ItemGroup>
|
||||
<AzureKinectBinaries Include="$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\bin\**\*" />
|
||||
</ItemGroup>
|
||||
<Copy SourceFiles="@(AzureKinectBinaries)" DestinationFolder="$(OutputPath)" SkipUnchangedFiles="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
|
|
@ -0,0 +1,88 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<VCProjectVersion>15.0</VCProjectVersion>
|
||||
<ProjectGuid>{92A1A302-5530-4944-869B-F8F4B1E4B1E4}</ProjectGuid>
|
||||
<RootNamespace>k4afastcapture_streaming</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="Shared">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<LibraryPath>$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\lib;$(LibraryPath)</LibraryPath>
|
||||
<IncludePath>$(ProgramW6432)\Azure Kinect SDK\sdk\include;$(IncludePath)</IncludePath>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="k4afastcapture.cpp" />
|
||||
<ClCompile Include="main.cpp" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
<Target Name="CopyFiles" AfterTargets="Build">
|
||||
<ItemGroup>
|
||||
<AzureKinectBinaries Include="$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\bin\**\*" />
|
||||
</ItemGroup>
|
||||
<Copy SourceFiles="@(AzureKinectBinaries)" DestinationFolder="$(OutputPath)" SkipUnchangedFiles="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
|
|
@ -0,0 +1,95 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<VCProjectVersion>15.0</VCProjectVersion>
|
||||
<ProjectGuid>{92A1A302-5530-4944-869B-F8F4B1E4B1E4}</ProjectGuid>
|
||||
<RootNamespace>k4arecorder</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="Shared">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<LibraryPath>$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\lib;$(LibraryPath)</LibraryPath>
|
||||
<IncludePath>$(ProgramW6432)\Azure Kinect SDK\sdk\include;$(IncludePath)</IncludePath>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<AdditionalDependencies>k4a.lib;k4arecord.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>k4a.lib;k4arecord.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="recorder.cpp" />
|
||||
<ClCompile Include="main.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<ClInclude Include="cmdparser.h" />
|
||||
<ClInclude Include="recorder.h" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="README.md" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
<Target Name="CopyFiles" AfterTargets="Build">
|
||||
<ItemGroup>
|
||||
<AzureKinectBinaries Include="$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\bin\**\*" />
|
||||
</ItemGroup>
|
||||
<Copy SourceFiles="@(AzureKinectBinaries)" DestinationFolder="$(OutputPath)" SkipUnchangedFiles="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
|
|
@ -9,7 +9,27 @@
|
|||
|
||||
#include <k4a/k4a.h>
|
||||
#include <k4arecord/record.h>
|
||||
#include <k4ainternal/common.h>
|
||||
|
||||
inline static uint32_t k4a_convert_fps_to_uint(k4a_fps_t fps)
|
||||
{
|
||||
uint32_t fps_int;
|
||||
switch (fps)
|
||||
{
|
||||
case K4A_FRAMES_PER_SECOND_5:
|
||||
fps_int = 5;
|
||||
break;
|
||||
case K4A_FRAMES_PER_SECOND_15:
|
||||
fps_int = 15;
|
||||
break;
|
||||
case K4A_FRAMES_PER_SECOND_30:
|
||||
fps_int = 30;
|
||||
break;
|
||||
default:
|
||||
fps_int = 0;
|
||||
break;
|
||||
}
|
||||
return fps_int;
|
||||
}
|
||||
|
||||
// call k4a_device_close on every failed CHECK
|
||||
#define CHECK(x, device) \
|
||||
|
|
|
|||
|
|
@ -0,0 +1,90 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<VCProjectVersion>15.0</VCProjectVersion>
|
||||
<ProjectGuid>{4AFBA7D8-1AAA-4D97-90B9-43FAE4C26D47}</ProjectGuid>
|
||||
<RootNamespace>opencv_compatibility</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="Shared">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<LibraryPath>$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\lib;$(LibraryPath)</LibraryPath>
|
||||
<IncludePath>$(ProgramW6432)\Azure Kinect SDK\sdk\include;$(IncludePath)</IncludePath>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="main.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="README.md" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
<Target Name="CopyFiles" AfterTargets="Build">
|
||||
<ItemGroup>
|
||||
<AzureKinectBinaries Include="$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\bin\**\*" />
|
||||
</ItemGroup>
|
||||
<Copy SourceFiles="@(AzureKinectBinaries)" DestinationFolder="$(OutputPath)" SkipUnchangedFiles="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
|
|
@ -0,0 +1,90 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<VCProjectVersion>15.0</VCProjectVersion>
|
||||
<ProjectGuid>{369B1FB5-256C-4B6E-8BDC-94F5A3B337A1}</ProjectGuid>
|
||||
<RootNamespace>streaming</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="Shared">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<LibraryPath>$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\lib;$(LibraryPath)</LibraryPath>
|
||||
<IncludePath>$(ProgramW6432)\Azure Kinect SDK\sdk\include;$(IncludePath)</IncludePath>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="main.c" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="readme.md" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
<Target Name="CopyFiles" AfterTargets="Build">
|
||||
<ItemGroup>
|
||||
<AzureKinectBinaries Include="$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\bin\**\*" />
|
||||
</ItemGroup>
|
||||
<Copy SourceFiles="@(AzureKinectBinaries)" DestinationFolder="$(OutputPath)" SkipUnchangedFiles="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
|
|
@ -10,19 +10,29 @@ static bool point_cloud_color_to_depth(k4a_transformation_t transformation_handl
|
|||
const k4a_image_t color_image,
|
||||
std::string file_name)
|
||||
{
|
||||
int depth_image_width_pixels = k4a_image_get_width_pixels(depth_image);
|
||||
int depth_image_height_pixels = k4a_image_get_height_pixels(depth_image);
|
||||
k4a_image_t transformed_color_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32,
|
||||
k4a_image_get_width_pixels(depth_image),
|
||||
k4a_image_get_height_pixels(depth_image),
|
||||
k4a_image_get_width_pixels(depth_image) * 4 * (int)sizeof(uint8_t),
|
||||
&transformed_color_image);
|
||||
if (K4A_RESULT_SUCCEEDED != k4a_image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32,
|
||||
depth_image_width_pixels,
|
||||
depth_image_height_pixels,
|
||||
depth_image_width_pixels * 4 * (int)sizeof(uint8_t),
|
||||
&transformed_color_image))
|
||||
{
|
||||
printf("Failed to create transformed color image\n");
|
||||
return false;
|
||||
}
|
||||
|
||||
k4a_image_t point_cloud_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM,
|
||||
k4a_image_get_width_pixels(depth_image),
|
||||
k4a_image_get_height_pixels(depth_image),
|
||||
k4a_image_get_width_pixels(depth_image) * 3 * (int)sizeof(int16_t),
|
||||
&point_cloud_image);
|
||||
if (K4A_RESULT_SUCCEEDED != k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM,
|
||||
depth_image_width_pixels,
|
||||
depth_image_height_pixels,
|
||||
depth_image_width_pixels * 3 * (int)sizeof(int16_t),
|
||||
&point_cloud_image))
|
||||
{
|
||||
printf("Failed to create point cloud image\n");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (K4A_RESULT_SUCCEEDED != k4a_transformation_color_image_to_depth_camera(transformation_handle,
|
||||
depth_image,
|
||||
|
|
@ -56,19 +66,29 @@ static bool point_cloud_depth_to_color(k4a_transformation_t transformation_handl
|
|||
std::string file_name)
|
||||
{
|
||||
// transform color image into depth camera geometry
|
||||
int color_image_width_pixels = k4a_image_get_width_pixels(color_image);
|
||||
int color_image_height_pixels = k4a_image_get_height_pixels(color_image);
|
||||
k4a_image_t transformed_depth_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
k4a_image_get_width_pixels(color_image),
|
||||
k4a_image_get_height_pixels(color_image),
|
||||
k4a_image_get_width_pixels(color_image) * (int)sizeof(uint16_t),
|
||||
&transformed_depth_image);
|
||||
if (K4A_RESULT_SUCCEEDED != k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
color_image_width_pixels,
|
||||
color_image_height_pixels,
|
||||
color_image_width_pixels * (int)sizeof(uint16_t),
|
||||
&transformed_depth_image))
|
||||
{
|
||||
printf("Failed to create transformed depth image\n");
|
||||
return false;
|
||||
}
|
||||
|
||||
k4a_image_t point_cloud_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM,
|
||||
k4a_image_get_width_pixels(color_image),
|
||||
k4a_image_get_height_pixels(color_image),
|
||||
k4a_image_get_width_pixels(color_image) * 3 * (int)sizeof(int16_t),
|
||||
&point_cloud_image);
|
||||
if (K4A_RESULT_SUCCEEDED != k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM,
|
||||
color_image_width_pixels,
|
||||
color_image_height_pixels,
|
||||
color_image_width_pixels * 3 * (int)sizeof(int16_t),
|
||||
&point_cloud_image))
|
||||
{
|
||||
printf("Failed to create point cloud image\n");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (K4A_RESULT_SUCCEEDED !=
|
||||
k4a_transformation_depth_image_to_color_camera(transformation_handle, depth_image, transformed_depth_image))
|
||||
|
|
|
|||
|
|
@ -0,0 +1,92 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<VCProjectVersion>15.0</VCProjectVersion>
|
||||
<ProjectGuid>{5F1CF02B-67F7-4E5C-8CA3-EB059EAD450B}</ProjectGuid>
|
||||
<RootNamespace>transformation</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="Shared">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<LibraryPath>$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\lib;$(LibraryPath)</LibraryPath>
|
||||
<IncludePath>$(ProgramW6432)\Azure Kinect SDK\sdk\include;$(IncludePath)</IncludePath>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="main.cpp" />
|
||||
<ClCompile Include="transformation_helpers.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="README.md" />
|
||||
<None Include="transformation_helpers.h" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
<Target Name="CopyFiles" AfterTargets="Build">
|
||||
<ItemGroup>
|
||||
<AzureKinectBinaries Include="$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\bin\**\*" />
|
||||
</ItemGroup>
|
||||
<Copy SourceFiles="@(AzureKinectBinaries)" DestinationFolder="$(OutputPath)" SkipUnchangedFiles="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
|
|
@ -0,0 +1,90 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|x64">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|x64">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>x64</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<VCProjectVersion>15.0</VCProjectVersion>
|
||||
<ProjectGuid>{2A3EC17F-FED3-4C9B-AFE2-78B16BD87981}</ProjectGuid>
|
||||
<RootNamespace>undistort</RootNamespace>
|
||||
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>v141</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="Shared">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup>
|
||||
<LibraryPath>$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\lib;$(LibraryPath)</LibraryPath>
|
||||
<IncludePath>$(ProgramW6432)\Azure Kinect SDK\sdk\include;$(IncludePath)</IncludePath>
|
||||
</PropertyGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<AdditionalDependencies>k4a.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="main.cpp" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="README.md" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
<Target Name="CopyFiles" AfterTargets="Build">
|
||||
<ItemGroup>
|
||||
<AzureKinectBinaries Include="$(ProgramW6432)\Azure Kinect SDK\sdk\amd64\$(Configuration)\bin\**\*" />
|
||||
</ItemGroup>
|
||||
<Copy SourceFiles="@(AzureKinectBinaries)" DestinationFolder="$(OutputPath)" SkipUnchangedFiles="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
|
|
@ -950,10 +950,13 @@ k4a_result_t k4a_transformation_depth_image_to_color_camera(k4a_transformation_t
|
|||
k4a_transformation_image_descriptor_t transformed_depth_image_descriptor = k4a_image_get_descriptor(
|
||||
transformed_depth_image);
|
||||
|
||||
uint8_t *depth_image_buffer = k4a_image_get_buffer(depth_image);
|
||||
uint8_t *transformed_depth_image_buffer = k4a_image_get_buffer(transformed_depth_image);
|
||||
|
||||
return TRACE_CALL(transformation_depth_image_to_color_camera(transformation_handle,
|
||||
k4a_image_get_buffer(depth_image),
|
||||
depth_image_buffer,
|
||||
&depth_image_descriptor,
|
||||
k4a_image_get_buffer(transformed_depth_image),
|
||||
transformed_depth_image_buffer,
|
||||
&transformed_depth_image_descriptor));
|
||||
}
|
||||
|
||||
|
|
@ -976,12 +979,16 @@ k4a_result_t k4a_transformation_color_image_to_depth_camera(k4a_transformation_t
|
|||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
uint8_t *depth_image_buffer = k4a_image_get_buffer(depth_image);
|
||||
uint8_t *color_image_buffer = k4a_image_get_buffer(color_image);
|
||||
uint8_t *transformed_color_image_buffer = k4a_image_get_buffer(transformed_color_image);
|
||||
|
||||
return TRACE_CALL(transformation_color_image_to_depth_camera(transformation_handle,
|
||||
k4a_image_get_buffer(depth_image),
|
||||
depth_image_buffer,
|
||||
&depth_image_descriptor,
|
||||
k4a_image_get_buffer(color_image),
|
||||
color_image_buffer,
|
||||
&color_image_descriptor,
|
||||
k4a_image_get_buffer(transformed_color_image),
|
||||
transformed_color_image_buffer,
|
||||
&transformed_color_image_descriptor));
|
||||
}
|
||||
|
||||
|
|
@ -993,11 +1000,14 @@ k4a_result_t k4a_transformation_depth_image_to_point_cloud(k4a_transformation_t
|
|||
k4a_transformation_image_descriptor_t depth_image_descriptor = k4a_image_get_descriptor(depth_image);
|
||||
k4a_transformation_image_descriptor_t xyz_image_descriptor = k4a_image_get_descriptor(xyz_image);
|
||||
|
||||
uint8_t *depth_image_buffer = k4a_image_get_buffer(depth_image);
|
||||
uint8_t *xyz_image_buffer = k4a_image_get_buffer(xyz_image);
|
||||
|
||||
return TRACE_CALL(transformation_depth_image_to_point_cloud(transformation_handle,
|
||||
k4a_image_get_buffer(depth_image),
|
||||
depth_image_buffer,
|
||||
&depth_image_descriptor,
|
||||
camera,
|
||||
k4a_image_get_buffer(xyz_image),
|
||||
xyz_image_buffer,
|
||||
&xyz_image_descriptor));
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -17,6 +17,18 @@ static k4a_result_t transformation_project_internal(const k4a_calibration_camera
|
|||
camera_calibration->intrinsics.type == K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY) &&
|
||||
camera_calibration->intrinsics.parameter_count >= 14)))
|
||||
{
|
||||
LOG_ERROR("Unexpected camera calibration model type %d, should either be "
|
||||
"K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT (%d) or "
|
||||
"K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY (%d).",
|
||||
camera_calibration->intrinsics.type,
|
||||
K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT,
|
||||
K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY);
|
||||
if (camera_calibration->intrinsics.type == K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY)
|
||||
{
|
||||
LOG_ERROR("Unexpected parameter count %d, should be %d.",
|
||||
camera_calibration->intrinsics.parameter_count,
|
||||
14);
|
||||
}
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -40,6 +52,9 @@ static k4a_result_t transformation_project_internal(const k4a_calibration_camera
|
|||
|
||||
if (K4A_FAILED(K4A_RESULT_FROM_BOOL(fx > 0.f && fy > 0.f)))
|
||||
{
|
||||
LOG_ERROR("Expect both fx and fy are larger than 0, actual values are fx: %lf, fy: %lf.",
|
||||
(double)fx,
|
||||
(double)fy);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -158,7 +173,7 @@ static k4a_result_t transformation_iterative_unproject(const k4a_calibration_cam
|
|||
float p[2];
|
||||
float J[2 * 2];
|
||||
|
||||
if (K4A_FAILED(transformation_project_internal(camera_calibration, xy, p, valid, J)))
|
||||
if (K4A_FAILED(TRACE_CALL(transformation_project_internal(camera_calibration, xy, p, valid, J))))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -211,6 +226,18 @@ static k4a_result_t transformation_unproject_internal(const k4a_calibration_came
|
|||
camera_calibration->intrinsics.type == K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY) &&
|
||||
camera_calibration->intrinsics.parameter_count >= 14)))
|
||||
{
|
||||
LOG_ERROR("Unexpected camera calibration model type %d, should either be "
|
||||
"K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT (%d) or "
|
||||
"K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY (%d).",
|
||||
camera_calibration->intrinsics.type,
|
||||
K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT,
|
||||
K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY);
|
||||
if (camera_calibration->intrinsics.type == K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY)
|
||||
{
|
||||
LOG_ERROR("Unexpected parameter count %d, should be %d.",
|
||||
camera_calibration->intrinsics.parameter_count,
|
||||
14);
|
||||
}
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -233,6 +260,9 @@ static k4a_result_t transformation_unproject_internal(const k4a_calibration_came
|
|||
|
||||
if (K4A_FAILED(K4A_RESULT_FROM_BOOL(fx > 0.f && fy > 0.f)))
|
||||
{
|
||||
LOG_ERROR("Expect both fx and fy are larger than 0, actual values are fx: %lf, fy: %lf.",
|
||||
(double)fx,
|
||||
(double)fy);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -289,7 +319,7 @@ k4a_result_t transformation_unproject(const k4a_calibration_camera_t *camera_cal
|
|||
return K4A_RESULT_SUCCEEDED;
|
||||
}
|
||||
|
||||
if (K4A_FAILED(transformation_unproject_internal(camera_calibration, point2d, point3d, valid)))
|
||||
if (K4A_FAILED(TRACE_CALL(transformation_unproject_internal(camera_calibration, point2d, point3d, valid))))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -318,7 +348,7 @@ k4a_result_t transformation_project(const k4a_calibration_camera_t *camera_calib
|
|||
xy[0] = point3d[0] / point3d[2];
|
||||
xy[1] = point3d[1] / point3d[2];
|
||||
|
||||
if (K4A_FAILED(transformation_project_internal(camera_calibration, xy, point2d, valid, 0)))
|
||||
if (K4A_FAILED(TRACE_CALL(transformation_project_internal(camera_calibration, xy, point2d, valid, 0))))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -15,6 +15,12 @@ transformation_get_mode_specific_camera_calibration(const k4a_calibration_camera
|
|||
mode_info->output_image_resolution[0] > 0 &&
|
||||
mode_info->output_image_resolution[1] > 0)))
|
||||
{
|
||||
LOG_ERROR("Expect calibration image binned resolution and output image resolution are larger than 0, actual "
|
||||
"values are calibration_image_binned_resolution: (%d,%d), output_image_resolution: (%d,%d).",
|
||||
mode_info->calibration_image_binned_resolution[0],
|
||||
mode_info->calibration_image_binned_resolution[1],
|
||||
mode_info->output_image_resolution[0],
|
||||
mode_info->output_image_resolution[1]);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -65,6 +71,11 @@ transformation_get_mode_specific_depth_camera_calibration(const k4a_calibration_
|
|||
if (K4A_FAILED(K4A_RESULT_FROM_BOOL(raw_camera_calibration->resolution_width == 1024 &&
|
||||
raw_camera_calibration->resolution_height == 1024)))
|
||||
{
|
||||
LOG_ERROR("Unexpected raw camera calibration resolution (%d,%d), should be (%d,%d).",
|
||||
raw_camera_calibration->resolution_width,
|
||||
raw_camera_calibration->resolution_height,
|
||||
1024,
|
||||
1024);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -73,35 +84,39 @@ transformation_get_mode_specific_depth_camera_calibration(const k4a_calibration_
|
|||
case K4A_DEPTH_MODE_NFOV_2X2BINNED:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 512, 512 }, { 96, 90 }, { 320, 288 } };
|
||||
return transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
case K4A_DEPTH_MODE_NFOV_UNBINNED:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 1024, 1024 }, { 192, 180 }, { 640, 576 } };
|
||||
return transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
case K4A_DEPTH_MODE_WFOV_2X2BINNED:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 512, 512 }, { 0, 0 }, { 512, 512 } };
|
||||
return transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
case K4A_DEPTH_MODE_WFOV_UNBINNED:
|
||||
case K4A_DEPTH_MODE_PASSIVE_IR:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 1024, 1024 }, { 0, 0 }, { 1024, 1024 } };
|
||||
return transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
default:
|
||||
{
|
||||
|
|
@ -121,11 +136,11 @@ transformation_get_mode_specific_color_camera_calibration(const k4a_calibration_
|
|||
// unitized and 0-cornered. It will be converted to pixelized and 0-centered in a subsequent call to
|
||||
// transformation_get_mode_specific_camera_calibration().
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 4096, 2304 }, { 0, -384 }, { 4096, 3072 } };
|
||||
if (K4A_FAILED(
|
||||
if (K4A_FAILED(TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(raw_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ false)))
|
||||
/* pixelized_zero_centered_output = */ false))))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -136,6 +151,9 @@ transformation_get_mode_specific_color_camera_calibration(const k4a_calibration_
|
|||
}
|
||||
else
|
||||
{
|
||||
LOG_ERROR("Unexpected aspect ratio %d:%d, should either be 16:9 or 4:3.",
|
||||
raw_camera_calibration->resolution_width,
|
||||
raw_camera_calibration->resolution_height);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -144,53 +162,60 @@ transformation_get_mode_specific_color_camera_calibration(const k4a_calibration_
|
|||
case K4A_COLOR_RESOLUTION_720P:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 1280, 960 }, { 0, 120 }, { 1280, 720 } };
|
||||
return transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
case K4A_COLOR_RESOLUTION_1080P:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 1920, 1440 }, { 0, 180 }, { 1920, 1080 } };
|
||||
return transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
case K4A_COLOR_RESOLUTION_1440P:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 2560, 1920 }, { 0, 240 }, { 2560, 1440 } };
|
||||
return transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
case K4A_COLOR_RESOLUTION_1536P:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 2048, 1536 }, { 0, 0 }, { 2048, 1536 } };
|
||||
return transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
case K4A_COLOR_RESOLUTION_2160P:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 3840, 2880 }, { 0, 360 }, { 3840, 2160 } };
|
||||
return transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
case K4A_COLOR_RESOLUTION_3072P:
|
||||
{
|
||||
k4a_camera_calibration_mode_info_t mode_info = { { 4096, 3072 }, { 0, 0 }, { 4096, 3072 } };
|
||||
return transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true);
|
||||
return TRACE_CALL(
|
||||
transformation_get_mode_specific_camera_calibration(mode_specific_camera_calibration,
|
||||
&mode_info,
|
||||
mode_specific_camera_calibration,
|
||||
/* pixelized_zero_centered_output = */ true));
|
||||
}
|
||||
default:
|
||||
{
|
||||
LOG_ERROR("Unexpected color resolution type %d.", color_resolution);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -60,6 +60,14 @@ static bool transformation_compare_image_descriptors(const k4a_transformation_im
|
|||
descriptor1->height_pixels != descriptor2->height_pixels ||
|
||||
descriptor1->stride_bytes != descriptor2->stride_bytes)
|
||||
{
|
||||
LOG_ERROR("Unexpected image descriptor. Expect width_pixels: %d, height_pixels: %d, stride_bytes: %d. "
|
||||
"Actual width_pixels: %d, height_pixels: %d, stride_bytes: %d.",
|
||||
descriptor1->width_pixels,
|
||||
descriptor1->height_pixels,
|
||||
descriptor1->stride_bytes,
|
||||
descriptor2->width_pixels,
|
||||
descriptor2->height_pixels,
|
||||
descriptor2->stride_bytes);
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
|
|
@ -430,6 +438,10 @@ k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
|
|||
{
|
||||
if (transformed_depth_image_descriptor == 0 || calibration == 0)
|
||||
{
|
||||
if (calibration == 0)
|
||||
{
|
||||
LOG_ERROR("Calibration is null.", 0);
|
||||
}
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -446,12 +458,33 @@ k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
|
|||
memcpy(transformed_depth_image_descriptor,
|
||||
&expected_transformed_depth_image_descriptor,
|
||||
sizeof(k4a_transformation_image_descriptor_t));
|
||||
|
||||
if (transformed_depth_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("Transformed depth image data is null.", 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG_ERROR("Unexpected transformed depth image descriptor, see details above.", 0);
|
||||
}
|
||||
return K4A_BUFFER_RESULT_TOO_SMALL;
|
||||
}
|
||||
|
||||
if (xy_tables_depth_camera == 0 || depth_image_data == 0 || depth_image_descriptor == 0 ||
|
||||
transformed_depth_image_data == 0)
|
||||
{
|
||||
if (xy_tables_depth_camera == 0)
|
||||
{
|
||||
LOG_ERROR("Depth camera xy table is null.", 0);
|
||||
}
|
||||
if (depth_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("Depth image data is null.", 0);
|
||||
}
|
||||
if (transformed_depth_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("Transformed depth image data is null.", 0);
|
||||
}
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -463,6 +496,7 @@ k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
|
|||
|
||||
if (transformation_compare_image_descriptors(depth_image_descriptor, &expected_depth_image_descriptor) == false)
|
||||
{
|
||||
LOG_ERROR("Unexpected depth image descriptor, see details above.", 0);
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -477,7 +511,7 @@ k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
|
|||
context.transformed_image = transformation_init_output_image(transformed_depth_image_descriptor,
|
||||
transformed_depth_image_data);
|
||||
|
||||
if (K4A_FAILED(transformation_depth_to_color(&context)))
|
||||
if (K4A_FAILED(TRACE_CALL(transformation_depth_to_color(&context))))
|
||||
{
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -588,6 +622,10 @@ k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
|
|||
{
|
||||
if (transformed_color_image_descriptor == 0 || calibration == 0)
|
||||
{
|
||||
if (calibration == 0)
|
||||
{
|
||||
LOG_ERROR("Calibration is null.", 0);
|
||||
}
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -604,12 +642,37 @@ k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
|
|||
memcpy(transformed_color_image_descriptor,
|
||||
&expected_transformed_color_image_descriptor,
|
||||
sizeof(k4a_transformation_image_descriptor_t));
|
||||
|
||||
if (transformed_color_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("Transformed color image data is null.", 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG_ERROR("Unexpected transformed color image descriptor, see details above.", 0);
|
||||
}
|
||||
return K4A_BUFFER_RESULT_TOO_SMALL;
|
||||
}
|
||||
|
||||
if (xy_tables_depth_camera == 0 || depth_image_data == 0 || depth_image_descriptor == 0 || color_image_data == 0 ||
|
||||
color_image_descriptor == 0 || transformed_color_image_data == 0)
|
||||
{
|
||||
if (xy_tables_depth_camera == 0)
|
||||
{
|
||||
LOG_ERROR("Depth camera xy table is null.", 0);
|
||||
}
|
||||
if (depth_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("Depth image data is null.", 0);
|
||||
}
|
||||
if (color_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("Color image data is null.", 0);
|
||||
}
|
||||
if (transformed_color_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("Transformed color image data is null.", 0);
|
||||
}
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -621,6 +684,7 @@ k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
|
|||
|
||||
if (transformation_compare_image_descriptors(depth_image_descriptor, &expected_depth_image_descriptor) == false)
|
||||
{
|
||||
LOG_ERROR("Unexpected depth image descriptor, see details above.", 0);
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -632,6 +696,7 @@ k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
|
|||
|
||||
if (transformation_compare_image_descriptors(color_image_descriptor, &expected_color_image_descriptor) == false)
|
||||
{
|
||||
LOG_ERROR("Unexpected color image descriptor, see details above.", 0);
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -676,11 +741,24 @@ transformation_depth_image_to_point_cloud_internal(k4a_transformation_xy_tables_
|
|||
transformation_compare_image_descriptors(xyz_image_descriptor, &expected_xyz_image_descriptor) == false)
|
||||
{
|
||||
memcpy(xyz_image_descriptor, &expected_xyz_image_descriptor, sizeof(k4a_transformation_image_descriptor_t));
|
||||
|
||||
if (xyz_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("XYZ image data is null.", 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG_ERROR("Unexpected XYZ image descriptor, see details above.", 0);
|
||||
}
|
||||
return K4A_BUFFER_RESULT_TOO_SMALL;
|
||||
}
|
||||
|
||||
if (depth_image_data == 0 || depth_image_descriptor == 0)
|
||||
{
|
||||
if (depth_image_data == 0)
|
||||
{
|
||||
LOG_ERROR("Depth image data is null.", 0);
|
||||
}
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -691,6 +769,7 @@ transformation_depth_image_to_point_cloud_internal(k4a_transformation_xy_tables_
|
|||
|
||||
if (transformation_compare_image_descriptors(depth_image_descriptor, &expected_depth_image_descriptor) == false)
|
||||
{
|
||||
LOG_ERROR("Unexpected depth image descriptor, see details above.", 0);
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -22,6 +22,7 @@ k4a_result_t transformation_get_mode_specific_calibration(const k4a_calibration_
|
|||
if (K4A_FAILED(
|
||||
K4A_RESULT_FROM_BOOL(color_resolution != K4A_COLOR_RESOLUTION_OFF || depth_mode != K4A_DEPTH_MODE_OFF)))
|
||||
{
|
||||
LOG_ERROR("Expect color or depth camera is running.", 0);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -74,14 +75,17 @@ static k4a_result_t transformation_possible(const k4a_calibration_t *camera_cali
|
|||
{
|
||||
if (camera >= K4A_CALIBRATION_TYPE_NUM || camera <= K4A_CALIBRATION_TYPE_UNKNOWN)
|
||||
{
|
||||
LOG_ERROR("Unexpected camera calibration type %d.", camera);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
if (camera == K4A_CALIBRATION_TYPE_DEPTH && camera_calibration->depth_mode == K4A_DEPTH_MODE_OFF)
|
||||
{
|
||||
LOG_ERROR("Expect depth camera is running to perform transformation.", 0);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
if (camera == K4A_CALIBRATION_TYPE_COLOR && camera_calibration->color_resolution == K4A_COLOR_RESOLUTION_OFF)
|
||||
{
|
||||
LOG_ERROR("Expect color camera is running to perform transformation.", 0);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
return K4A_RESULT_SUCCEEDED;
|
||||
|
|
@ -147,6 +151,11 @@ k4a_result_t transformation_2d_to_3d(const k4a_calibration_t *calibration,
|
|||
}
|
||||
else
|
||||
{
|
||||
LOG_ERROR("Unexpected source camera calibration type %d, should either be K4A_CALIBRATION_TYPE_DEPTH (%d) or "
|
||||
"K4A_CALIBRATION_TYPE_COLOR (%d).",
|
||||
source_camera,
|
||||
K4A_CALIBRATION_TYPE_DEPTH,
|
||||
K4A_CALIBRATION_TYPE_COLOR);
|
||||
return K4A_RESULT_FAILED; // unproject only supported for depth and color cameras
|
||||
}
|
||||
|
||||
|
|
@ -201,6 +210,11 @@ k4a_result_t transformation_3d_to_2d(const k4a_calibration_t *calibration,
|
|||
}
|
||||
else
|
||||
{
|
||||
LOG_ERROR("Unexpected target camera calibration type %d, should either be K4A_CALIBRATION_TYPE_DEPTH (%d) or "
|
||||
"K4A_CALIBRATION_TYPE_COLOR (%d).",
|
||||
target_camera,
|
||||
K4A_CALIBRATION_TYPE_DEPTH,
|
||||
K4A_CALIBRATION_TYPE_COLOR);
|
||||
return K4A_RESULT_FAILED; // project only supported for depth and color cameras
|
||||
}
|
||||
}
|
||||
|
|
@ -258,6 +272,11 @@ static k4a_buffer_result_t transformation_init_xy_tables(const k4a_calibration_t
|
|||
height = calibration->color_camera_calibration.resolution_height;
|
||||
break;
|
||||
default:
|
||||
LOG_ERROR("Unexpected camera calibration type %d, should either be K4A_CALIBRATION_TYPE_DEPTH (%d) or "
|
||||
"K4A_CALIBRATION_TYPE_COLOR (%d).",
|
||||
camera,
|
||||
K4A_CALIBRATION_TYPE_DEPTH,
|
||||
K4A_CALIBRATION_TYPE_COLOR);
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -271,6 +290,7 @@ static k4a_buffer_result_t transformation_init_xy_tables(const k4a_calibration_t
|
|||
{
|
||||
if (K4A_FAILED(K4A_RESULT_FROM_BOOL(*data_size >= 2 * table_size)))
|
||||
{
|
||||
LOG_ERROR("Unexpected xy table size %d, should be larger or equal than %d.", *data_size, 2 * table_size);
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -288,7 +308,8 @@ static k4a_buffer_result_t transformation_init_xy_tables(const k4a_calibration_t
|
|||
for (int x = 0; x < width; x++, idx++)
|
||||
{
|
||||
point2d[0] = (float)x;
|
||||
if (K4A_FAILED(transformation_2d_to_3d(calibration, point2d, 1.f, camera, camera, point3d, &valid)))
|
||||
if (K4A_FAILED(TRACE_CALL(
|
||||
transformation_2d_to_3d(calibration, point2d, 1.f, camera, camera, point3d, &valid))))
|
||||
{
|
||||
return K4A_BUFFER_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -318,7 +339,7 @@ static k4a_result_t transformation_allocate_xy_tables(const k4a_calibration_t *c
|
|||
*buffer = 0;
|
||||
size_t xy_tables_data_size = 0;
|
||||
if (K4A_BUFFER_RESULT_TOO_SMALL !=
|
||||
transformation_init_xy_tables(calibration, camera, *buffer, &xy_tables_data_size, xy_tables))
|
||||
TRACE_BUFFER_CALL(transformation_init_xy_tables(calibration, camera, *buffer, &xy_tables_data_size, xy_tables)))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -326,7 +347,7 @@ static k4a_result_t transformation_allocate_xy_tables(const k4a_calibration_t *c
|
|||
*buffer = malloc(xy_tables_data_size * sizeof(float));
|
||||
|
||||
if (K4A_BUFFER_RESULT_SUCCEEDED !=
|
||||
transformation_init_xy_tables(calibration, camera, *buffer, &xy_tables_data_size, xy_tables))
|
||||
TRACE_BUFFER_CALL(transformation_init_xy_tables(calibration, camera, *buffer, &xy_tables_data_size, xy_tables)))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -445,7 +466,7 @@ transformation_depth_image_to_color_camera(k4a_transformation_t transformation_h
|
|||
|
||||
if (!transformation_context->enable_depth_color_transform)
|
||||
{
|
||||
LOG_ERROR("Require both depth camera and color camera are opened to transform depth image to color camera.", 0);
|
||||
LOG_ERROR("Expect both depth camera and color camera are running to transform depth image to color camera.", 0);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -485,12 +506,13 @@ transformation_depth_image_to_color_camera(k4a_transformation_t transformation_h
|
|||
else
|
||||
{
|
||||
if (K4A_BUFFER_RESULT_SUCCEEDED !=
|
||||
transformation_depth_image_to_color_camera_internal(&transformation_context->calibration,
|
||||
&transformation_context->depth_camera_xy_tables,
|
||||
depth_image_data,
|
||||
depth_image_descriptor,
|
||||
transformed_depth_image_data,
|
||||
transformed_depth_image_descriptor))
|
||||
TRACE_BUFFER_CALL(
|
||||
transformation_depth_image_to_color_camera_internal(&transformation_context->calibration,
|
||||
&transformation_context->depth_camera_xy_tables,
|
||||
depth_image_data,
|
||||
depth_image_descriptor,
|
||||
transformed_depth_image_data,
|
||||
transformed_depth_image_descriptor)))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -512,7 +534,7 @@ transformation_color_image_to_depth_camera(k4a_transformation_t transformation_h
|
|||
|
||||
if (!transformation_context->enable_depth_color_transform)
|
||||
{
|
||||
LOG_ERROR("Require both depth camera and color camera are opened to transform color image to depth camera.", 0);
|
||||
LOG_ERROR("Expect both depth camera and color camera are running to transform color image to depth camera.", 0);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
|
|
@ -553,14 +575,15 @@ transformation_color_image_to_depth_camera(k4a_transformation_t transformation_h
|
|||
else
|
||||
{
|
||||
if (K4A_BUFFER_RESULT_SUCCEEDED !=
|
||||
transformation_color_image_to_depth_camera_internal(&transformation_context->calibration,
|
||||
&transformation_context->depth_camera_xy_tables,
|
||||
depth_image_data,
|
||||
depth_image_descriptor,
|
||||
color_image_data,
|
||||
color_image_descriptor,
|
||||
transformed_color_image_data,
|
||||
transformed_color_image_descriptor))
|
||||
TRACE_BUFFER_CALL(
|
||||
transformation_color_image_to_depth_camera_internal(&transformation_context->calibration,
|
||||
&transformation_context->depth_camera_xy_tables,
|
||||
depth_image_data,
|
||||
depth_image_descriptor,
|
||||
color_image_data,
|
||||
color_image_descriptor,
|
||||
transformed_color_image_data,
|
||||
transformed_color_image_descriptor)))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
@ -590,14 +613,17 @@ transformation_depth_image_to_point_cloud(k4a_transformation_t transformation_ha
|
|||
}
|
||||
else
|
||||
{
|
||||
LOG_ERROR("Unexpected camera calibration type %d, should either be K4A_CALIBRATION_TYPE_DEPTH (%d) or "
|
||||
"K4A_CALIBRATION_TYPE_COLOR (%d).",
|
||||
camera,
|
||||
K4A_CALIBRATION_TYPE_DEPTH,
|
||||
K4A_CALIBRATION_TYPE_COLOR);
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
||||
if (K4A_BUFFER_RESULT_SUCCEEDED != transformation_depth_image_to_point_cloud_internal(xy_tables,
|
||||
depth_image_data,
|
||||
depth_image_descriptor,
|
||||
xyz_image_data,
|
||||
xyz_image_descriptor))
|
||||
if (K4A_BUFFER_RESULT_SUCCEEDED !=
|
||||
TRACE_BUFFER_CALL(transformation_depth_image_to_point_cloud_internal(
|
||||
xy_tables, depth_image_data, depth_image_descriptor, xyz_image_data, xyz_image_descriptor)))
|
||||
{
|
||||
return K4A_RESULT_FAILED;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -6,6 +6,7 @@ add_executable(transformation_ut transformation.cpp)
|
|||
target_link_libraries(transformation_ut PRIVATE
|
||||
azure::aziotsharedutil
|
||||
gtest::gtest
|
||||
k4ainternal::image
|
||||
k4ainternal::transformation
|
||||
k4ainternal::utcommon
|
||||
k4a::k4a)
|
||||
|
|
|
|||
|
|
@ -8,6 +8,7 @@
|
|||
#include <k4a/k4a.h>
|
||||
#include <k4ainternal/transformation.h>
|
||||
#include <k4ainternal/common.h>
|
||||
#include <k4ainternal/image.h>
|
||||
|
||||
using namespace testing;
|
||||
|
||||
|
|
@ -83,6 +84,15 @@ protected:
|
|||
ASSERT_EQ_FLT(A[2], B[2]) \
|
||||
}
|
||||
|
||||
static k4a_transformation_image_descriptor_t image_get_descriptor(const k4a_image_t image)
|
||||
{
|
||||
k4a_transformation_image_descriptor_t descriptor;
|
||||
descriptor.width_pixels = image_get_width_pixels(image);
|
||||
descriptor.height_pixels = image_get_height_pixels(image);
|
||||
descriptor.stride_bytes = image_get_stride_bytes(image);
|
||||
return descriptor;
|
||||
}
|
||||
|
||||
TEST_F(transformation_ut, transformation_3d_to_3d)
|
||||
{
|
||||
float dummy[3] = { 0.f, 0.f, 0.f };
|
||||
|
|
@ -310,50 +320,90 @@ TEST_F(transformation_ut, transformation_create_depth_only)
|
|||
k4a_calibration_get_from_raw(g_test_json, sizeof(g_test_json), depth_mode, color_resolution, &calibration);
|
||||
ASSERT_EQ(result, K4A_RESULT_SUCCEEDED);
|
||||
|
||||
k4a_transformation_t transformation = k4a_transformation_create(&calibration);
|
||||
ASSERT_NE(transformation, (k4a_transformation_t)NULL);
|
||||
k4a_transformation_t transformation_handle = transformation_create(&calibration, true);
|
||||
ASSERT_NE(transformation_handle, (k4a_transformation_t)NULL);
|
||||
|
||||
int depth_image_width_pixels = 640;
|
||||
int depth_image_height_pixels = 576;
|
||||
k4a_image_t depth_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16, 640, 576, 640 * 1 * (int)sizeof(uint16_t), &depth_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
depth_image_width_pixels,
|
||||
depth_image_height_pixels,
|
||||
depth_image_width_pixels * 1 * (int)sizeof(uint16_t),
|
||||
&depth_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
int color_image_width_pixels = 1920;
|
||||
int color_image_height_pixels = 1080;
|
||||
k4a_image_t color_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16, 1920, 1080, 1920 * 4 * (int)sizeof(uint8_t), &color_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
color_image_width_pixels,
|
||||
color_image_height_pixels,
|
||||
color_image_width_pixels * 4 * (int)sizeof(uint8_t),
|
||||
&color_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
k4a_image_t transformed_color_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32,
|
||||
k4a_image_get_width_pixels(depth_image),
|
||||
k4a_image_get_height_pixels(depth_image),
|
||||
k4a_image_get_width_pixels(depth_image) * 4 * (int)sizeof(uint8_t),
|
||||
&transformed_color_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32,
|
||||
depth_image_width_pixels,
|
||||
depth_image_height_pixels,
|
||||
depth_image_width_pixels * 4 * (int)sizeof(uint8_t),
|
||||
&transformed_color_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
k4a_image_t transformed_depth_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
k4a_image_get_width_pixels(color_image),
|
||||
k4a_image_get_height_pixels(color_image),
|
||||
k4a_image_get_width_pixels(color_image) * 1 * (int)sizeof(uint16_t),
|
||||
&transformed_depth_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
color_image_width_pixels,
|
||||
color_image_height_pixels,
|
||||
color_image_width_pixels * 1 * (int)sizeof(uint16_t),
|
||||
&transformed_depth_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
ASSERT_NE(k4a_transformation_color_image_to_depth_camera(transformation,
|
||||
depth_image,
|
||||
color_image,
|
||||
transformed_color_image),
|
||||
k4a_transformation_image_descriptor_t depth_image_descriptor = image_get_descriptor(depth_image);
|
||||
k4a_transformation_image_descriptor_t color_image_descriptor = image_get_descriptor(color_image);
|
||||
k4a_transformation_image_descriptor_t transformed_color_image_descriptor = image_get_descriptor(
|
||||
transformed_color_image);
|
||||
uint8_t *depth_image_buffer = image_get_buffer(depth_image);
|
||||
uint8_t *color_image_buffer = image_get_buffer(color_image);
|
||||
uint8_t *transformed_color_image_buffer = image_get_buffer(transformed_color_image);
|
||||
ASSERT_NE(transformation_color_image_to_depth_camera(transformation_handle,
|
||||
depth_image_buffer,
|
||||
&depth_image_descriptor,
|
||||
color_image_buffer,
|
||||
&color_image_descriptor,
|
||||
transformed_color_image_buffer,
|
||||
&transformed_color_image_descriptor),
|
||||
K4A_RESULT_SUCCEEDED);
|
||||
|
||||
ASSERT_NE(k4a_transformation_depth_image_to_color_camera(transformation, depth_image, transformed_depth_image),
|
||||
k4a_transformation_image_descriptor_t transformed_depth_image_descriptor = image_get_descriptor(
|
||||
transformed_depth_image);
|
||||
uint8_t *transformed_depth_image_buffer = image_get_buffer(transformed_depth_image);
|
||||
ASSERT_NE(transformation_depth_image_to_color_camera(transformation_handle,
|
||||
depth_image_buffer,
|
||||
&depth_image_descriptor,
|
||||
transformed_depth_image_buffer,
|
||||
&transformed_depth_image_descriptor),
|
||||
K4A_RESULT_SUCCEEDED);
|
||||
|
||||
k4a_image_t point_cloud_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM,
|
||||
k4a_image_get_width_pixels(depth_image),
|
||||
k4a_image_get_height_pixels(depth_image),
|
||||
k4a_image_get_width_pixels(depth_image) * 3 * (int)sizeof(int16_t),
|
||||
&point_cloud_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_CUSTOM,
|
||||
depth_image_width_pixels,
|
||||
depth_image_height_pixels,
|
||||
depth_image_width_pixels * 3 * (int)sizeof(int16_t),
|
||||
&point_cloud_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
ASSERT_EQ(k4a_transformation_depth_image_to_point_cloud(transformation,
|
||||
depth_image,
|
||||
K4A_CALIBRATION_TYPE_DEPTH,
|
||||
point_cloud_image),
|
||||
k4a_transformation_image_descriptor_t point_cloud_image_descriptor = image_get_descriptor(point_cloud_image);
|
||||
uint8_t *point_cloud_image_buffer = image_get_buffer(point_cloud_image);
|
||||
ASSERT_EQ(transformation_depth_image_to_point_cloud(transformation_handle,
|
||||
depth_image_buffer,
|
||||
&depth_image_descriptor,
|
||||
K4A_CALIBRATION_TYPE_DEPTH,
|
||||
point_cloud_image_buffer,
|
||||
&point_cloud_image_descriptor),
|
||||
K4A_RESULT_SUCCEEDED);
|
||||
|
||||
transformation_destroy(transformation_handle);
|
||||
}
|
||||
|
||||
TEST_F(transformation_ut, transformation_create_color_only)
|
||||
|
|
@ -366,40 +416,75 @@ TEST_F(transformation_ut, transformation_create_color_only)
|
|||
k4a_calibration_get_from_raw(g_test_json, sizeof(g_test_json), depth_mode, color_resolution, &calibration);
|
||||
ASSERT_EQ(result, K4A_RESULT_SUCCEEDED);
|
||||
|
||||
k4a_transformation_t transformation = k4a_transformation_create(&calibration);
|
||||
ASSERT_NE(transformation, (k4a_transformation_t)NULL);
|
||||
k4a_transformation_t transformation_handle = transformation_create(&calibration, true);
|
||||
ASSERT_NE(transformation_handle, (k4a_transformation_t)NULL);
|
||||
|
||||
int depth_image_width_pixels = 640;
|
||||
int depth_image_height_pixels = 576;
|
||||
k4a_image_t depth_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16, 640, 576, 640 * 1 * (int)sizeof(uint16_t), &depth_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
depth_image_width_pixels,
|
||||
depth_image_height_pixels,
|
||||
depth_image_width_pixels * 1 * (int)sizeof(uint16_t),
|
||||
&depth_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
int color_image_width_pixels = 1920;
|
||||
int color_image_height_pixels = 1080;
|
||||
k4a_image_t color_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16, 1920, 1080, 1920 * 4 * (int)sizeof(uint8_t), &color_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
color_image_width_pixels,
|
||||
color_image_height_pixels,
|
||||
color_image_width_pixels * 4 * (int)sizeof(uint8_t),
|
||||
&color_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
k4a_image_t transformed_color_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32,
|
||||
k4a_image_get_width_pixels(depth_image),
|
||||
k4a_image_get_height_pixels(depth_image),
|
||||
k4a_image_get_width_pixels(depth_image) * 4 * (int)sizeof(uint8_t),
|
||||
&transformed_color_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32,
|
||||
depth_image_width_pixels,
|
||||
depth_image_height_pixels,
|
||||
depth_image_width_pixels * 4 * (int)sizeof(uint8_t),
|
||||
&transformed_color_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
k4a_image_t transformed_depth_image = NULL;
|
||||
k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
k4a_image_get_width_pixels(color_image),
|
||||
k4a_image_get_height_pixels(color_image),
|
||||
k4a_image_get_width_pixels(color_image) * 1 * (int)sizeof(uint16_t),
|
||||
&transformed_depth_image);
|
||||
ASSERT_EQ(image_create(K4A_IMAGE_FORMAT_DEPTH16,
|
||||
color_image_width_pixels,
|
||||
color_image_height_pixels,
|
||||
color_image_width_pixels * 1 * (int)sizeof(uint16_t),
|
||||
&transformed_depth_image),
|
||||
K4A_WAIT_RESULT_SUCCEEDED);
|
||||
|
||||
ASSERT_NE(k4a_transformation_color_image_to_depth_camera(transformation,
|
||||
depth_image,
|
||||
color_image,
|
||||
transformed_color_image),
|
||||
k4a_transformation_image_descriptor_t depth_image_descriptor = image_get_descriptor(depth_image);
|
||||
k4a_transformation_image_descriptor_t color_image_descriptor = image_get_descriptor(color_image);
|
||||
k4a_transformation_image_descriptor_t transformed_color_image_descriptor = image_get_descriptor(
|
||||
transformed_color_image);
|
||||
uint8_t *depth_image_buffer = image_get_buffer(depth_image);
|
||||
uint8_t *color_image_buffer = image_get_buffer(color_image);
|
||||
uint8_t *transformed_color_image_buffer = image_get_buffer(transformed_color_image);
|
||||
ASSERT_NE(transformation_color_image_to_depth_camera(transformation_handle,
|
||||
depth_image_buffer,
|
||||
&depth_image_descriptor,
|
||||
color_image_buffer,
|
||||
&color_image_descriptor,
|
||||
transformed_color_image_buffer,
|
||||
&transformed_color_image_descriptor),
|
||||
K4A_RESULT_SUCCEEDED);
|
||||
|
||||
ASSERT_NE(k4a_transformation_depth_image_to_color_camera(transformation, depth_image, transformed_depth_image),
|
||||
k4a_transformation_image_descriptor_t transformed_depth_image_descriptor = image_get_descriptor(
|
||||
transformed_depth_image);
|
||||
uint8_t *transformed_depth_image_buffer = image_get_buffer(transformed_depth_image);
|
||||
ASSERT_NE(transformation_depth_image_to_color_camera(transformation_handle,
|
||||
depth_image_buffer,
|
||||
&depth_image_descriptor,
|
||||
transformed_depth_image_buffer,
|
||||
&transformed_depth_image_descriptor),
|
||||
K4A_RESULT_SUCCEEDED);
|
||||
|
||||
ASSERT_EQ(calibration.depth_camera_calibration.resolution_width, 0);
|
||||
ASSERT_EQ(calibration.depth_camera_calibration.resolution_width, 0);
|
||||
|
||||
transformation_destroy(transformation_handle);
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
|
|
|
|||
|
|
@ -2,4 +2,7 @@
|
|||
# Licensed under the MIT License.
|
||||
|
||||
add_subdirectory(deversion)
|
||||
add_subdirectory(k4aviewer)
|
||||
add_subdirectory(k4afastcapture_streaming)
|
||||
add_subdirectory(k4afastcapture_trigger)
|
||||
add_subdirectory(updater)
|
||||
Некоторые файлы не были показаны из-за слишком большого количества измененных файлов Показать больше
Загрузка…
Ссылка в новой задаче