https://github.com/edisonslightbulbs/k4a
A helper class for working with the k4a Kinect
https://github.com/edisonslightbulbs/k4a
helper-class k4a kinect
Last synced: 3 months ago
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A helper class for working with the k4a Kinect
- Host: GitHub
- URL: https://github.com/edisonslightbulbs/k4a
- Owner: edisonslightbulbs
- Created: 2021-03-19T08:20:16.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2021-08-16T10:08:25.000Z (almost 4 years ago)
- Last Synced: 2025-01-14T09:12:16.441Z (4 months ago)
- Topics: helper-class, k4a, kinect
- Language: C++
- Homepage:
- Size: 135 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
###### Helper class for working with Microsoft's K4a (kinect)
* interface:
```cpp
#include
#include
#include "point.h"
/** @struct t_config
* Kinect config
*
* @b Reference
* https://docs.microsoft.com/en-us/azure/kinect-dk/hardware-specification#depth-camera-supported-operating-modes
*/
struct t_config {
const int32_t TIMEOUT = 1000;
k4a_device_t m_device = nullptr;
k4a_device_configuration_t m_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
t_config()
{
m_config.color_resolution = K4A_COLOR_RESOLUTION_720P;
m_config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED; // 640 * 576
m_config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
m_config.camera_fps = K4A_FRAMES_PER_SECOND_30;
m_config.synchronized_images_only = true;
}
};
extern const int RGB_TO_DEPTH;
extern const int DEPTH_TO_RGB;
/** @file kinect.h
* Kinect device.
*/
class Kinect {
public:
std::mutex m_mutex;
int32_t m_timeout = 0;
k4a_device_t m_device;
k4a_capture_t m_capture = nullptr;
k4a_calibration_t m_calibration {};
k4a_transformation_t m_transform = nullptr;
k4a_image_t m_pcl = nullptr; // point cloud
k4a_image_t m_img = nullptr; // color image
k4a_image_t m_c2d = nullptr; // color to depth image
k4a_image_t m_d2c = nullptr; // depth to color image
k4a_image_t m_xyT = nullptr; // xy table
k4a_image_t m_xyPcl = nullptr; // point cloud from xy table
k4a_image_t m_depth = nullptr; // depth image
/** capture
* Captures images using k4a device.
*/
void capture();
/** transform
* Carries out requested transformation.
*
* @param transformFlag
* Flag for transformation types, i.e.,
* RGB_TO_DEPTH & DEPTH_TO_RGB
*/
void transform(const int& transformFlag);
/**
* xyLookupTable
* Pre-computes a lookup table by storing x and y depth
* scale factors for every pixel.
*
* @param ptr_calibration
* Calibration for the kinect device in question.
*
* @param depthImg
* Depth map captured by the kinect device.
*/
static void xyLookupTable(
const k4a_calibration_t* ptr_calibration, k4a_image_t depthImg);
/** close
* Closes k4a device.
*/
void close() const;
void releaseK4aImages() const;
void releaseK4aCapture() const;
__attribute__((unused)) void releaseK4aTransform();
void xyTable();
void imgCapture();
void pclCapture();
void c2dCapture();
void depthCapture();
Kinect();
~Kinect();
};
```
* usage:
```cpp
#include "kinect.h" // <- include header
int main(int argc, char* argv[])
{
Kinect kinect();
kinect.capture();
kinect.depthCapture();
kinect.pclCapture();
kinect.imgCapture();
kinect.c2dCapture();
kinect.transform(RGB_TO_DEPTH);
auto* ptr_k4aImgData = k4a_image_get_buffer(kinect.m_c2d);
auto* ptr_k4aPCloudData = (int16_t*)(void*)k4a_image_get_buffer(kinect.m_pcl);
auto* ptr_k4aDepthData = (uint16_t*)(void*)k4a_image_get_buffer(kinect.m_depth);
auto* ptr_k4aTableData = (k4a_float2_t*)(void*)k4a_image_get_buffer(kinect.m_xyT);
// ------> do stuff data <-----
// ------> do stuff data <-----
kinect.releaseK4aImages();
kinect.releaseK4aCapture();
return 0;
}
```