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Changed Color Image Mapping to be more accurate #48

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Aug 4, 2020
Merged

Changed Color Image Mapping to be more accurate #48

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00383d8
Finalized depth_image_to_Color_Camera mapping, added dynamic resize o…
Jul 2, 2020
4a7e990
Removed some comments and unused headers
Jul 2, 2020
df80603
Change snake_case to camelCase, removed unused code, change interpola…
Jul 29, 2020
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14 changes: 7 additions & 7 deletions ICP/ICP.vcxproj
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Expand Up @@ -29,46 +29,46 @@
<PropertyGroup Label="Globals">
<ProjectGuid>{973EE923-B423-4BCD-AA08-B03DA40CB51F}</ProjectGuid>
<RootNamespace>ICP</RootNamespace>
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
<WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
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14 changes: 7 additions & 7 deletions LiveScanClient/KinectClient.vcxproj
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Expand Up @@ -60,32 +60,32 @@
<ProjectGuid>{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}</ProjectGuid>
<RootNamespace>KinectClient</RootNamespace>
<ProjectName>LiveScanClient</ProjectName>
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
<WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
Expand Down Expand Up @@ -193,12 +193,12 @@
</ItemDefinitionGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">
<Import Project="..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0\build\native\Microsoft.Azure.Kinect.Sensor.targets" Condition="Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0\build\native\Microsoft.Azure.Kinect.Sensor.targets')" />
<Import Project="..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets" Condition="Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" />
</ImportGroup>
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
<PropertyGroup>
<ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them. For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText>
</PropertyGroup>
<Error Condition="!Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0\build\native\Microsoft.Azure.Kinect.Sensor.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0\build\native\Microsoft.Azure.Kinect.Sensor.targets'))" />
<Error Condition="!Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets'))" />
</Target>
</Project>
2 changes: 1 addition & 1 deletion LiveScanClient/packages.config
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@@ -1,4 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="Microsoft.Azure.Kinect.Sensor" version="1.2.0" targetFramework="native" />
<package id="Microsoft.Azure.Kinect.Sensor" version="1.4.1" targetFramework="native" />
</packages>
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6 changes: 6 additions & 0 deletions bin/LiveScanPlayer.exe.config
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@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="utf-8" ?>
<configuration>
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<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
</startup>
</configuration>
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6 changes: 6 additions & 0 deletions bin/LiveScanServer.exe.config
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@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
</startup>
</configuration>
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16 changes: 14 additions & 2 deletions include/LiveScanClient/azureKinectCapture.h
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Expand Up @@ -3,7 +3,10 @@
#include "stdafx.h"
#include "ICapture.h"
#include <k4a/k4a.h>
#include <opencv2/opencv.hpp>
#include "utils.h"
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>

class AzureKinectCapture : public ICapture
{
Expand All @@ -17,16 +20,25 @@ class AzureKinectCapture : public ICapture
void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints);
void MapDepthFrameToColorSpace(UINT16 *pDepthInColorSpace);
void MapColorFrameToDepthSpace(RGB *pColorInDepthSpace);
k4a_image_t Downscale_image_2x2_binning(const k4a_image_t color_image);

private:
k4a_device_t kinectSensor = NULL;
int32_t captureTimeoutMs = 1000;

k4a_image_t colorImage = NULL;
k4a_image_t depthImage = NULL;
k4a_image_t depthPointCloudImage = NULL;
k4a_image_t pointCloudImage = NULL;
k4a_image_t transformed_depth_image = NULL;
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k4a_image_t colorImageInDepth = NULL;
k4a_image_t depthImageInColor = NULL;
k4a_image_t color_image_downscaled = NULL;
int color_image_downscaled_width;
int color_image_downscaled_height;
k4a_transformation_t transformation = NULL;

k4a_transformation_t transformation_color_downscaled = NULL;
k4a_image_t opencv_to_k4a_image(const cv::Mat cImg);
cv::Mat color_to_opencv(const k4a_image_t im);
void UpdateDepthPointCloud();
void UpdateDepthPointCloudForColorFrame();
};
2 changes: 1 addition & 1 deletion include/LiveScanClient/liveScanClient.h
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Expand Up @@ -73,7 +73,7 @@ class LiveScanClient
DWORD m_nFramesSinceUpdate;

Point3f* m_pCameraSpaceCoordinates;
RGB* m_pColorInDepthSpace;
RGB* m_pColorInColorSpace;
UINT16* m_pDepthInColorSpace;

// Direct2D
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10 changes: 10 additions & 0 deletions include/LiveScanClient/utils.h
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Expand Up @@ -45,16 +45,26 @@ typedef struct Point3f
this->X = 0;
this->Y = 0;
this->Z = 0;
this->Invalid = false;
}
Point3f(float X, float Y, float Z, bool invalid)
{
this->X = X;
this->Y = Y;
this->Z = Z;
this->Invalid = invalid;
}
Point3f(float X, float Y, float Z)
{
this->X = X;
this->Y = Y;
this->Z = Z;
this->Invalid = false;
}
float X;
float Y;
float Z;
bool Invalid = false;
} Point3f;

typedef struct Point3s
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