鍥惧儚杞崲
鏈枃鍐呭
鈼 k4a_transformation 鍑芥暟
鈼 绀轰緥
鈼 鍚庣画姝ラ
鏈枃瀹屽叏澶嶇敤Azure Kinect DK鐨勫浘鍍忚浆鎹㈠姛鑳斤紝涓昏瀹炵幇D2C锛孋2D锛屾繁搴﹁浆鐐逛簯鐨勫姛鑳姐€
k4a_transformation 鍑芥暟
k4a_transformation 鏄 Azure Kinect DK 鐢ㄤ簬鍗忚皟鐩告満绯荤粺涔嬮棿鍘讳娇鐢ㄥ拰杞崲鍥惧儚銆鎵€鏈夊甫鏈 k4a_transformation 鍓嶇紑鐨勫嚱鏁伴拡瀵规暣涓浘鍍忚繍琛屻€ 瀹冧滑闇€瑕侀€氳繃 k4a_transformation_create() 鑾峰彇杞崲鍙ユ焺 k4a_transformation_t锛屽苟閫氳繃 k4a_transformation_destroy() 閲婃斁鍙ユ焺銆 浣犺繕鍙互鍙傝€ SDK 杞崲绀轰緥锛屾紨绀轰簡濡備綍浣跨敤杩欏嚑涓嚱鏁般€
鏈枃灏嗕粙缁嶄互涓嬪嚱鏁帮細
鈼 k4a_transformation_depth_image_to_color_camera()
鈼 k4a_transformation_depth_image_to_color_camera_custom()
鈼 k4a_transformation_color_image_to_depth_camera()
鈼 k4a_transformation_depth_image_to_point_cloud()
k4a_transformation_depth_image_to_color_camera
姒傝堪
鍑芥暟 k4a_transformation_depth_image_to_color_camera() 灏嗘繁搴﹀浘浠庢繁搴︾浉鏈虹殑瑙嗙偣杞崲涓哄僵鑹茬浉鏈虹殑瑙嗙偣銆 姝ゅ嚱鏁版棬鍦ㄧ敓鎴愭墍璋撶殑 RGB-D 鍥惧儚锛屽叾涓紝D 琛ㄧず褰曞埗娣卞害鍊肩殑闄勫姞鍥惧儚閫氶亾銆 鍦ㄤ笅鍥句腑鍙互鐪嬪埌锛k4a_transformation_depth_image_to_color_camera() 杈撳嚭鐨勬繁搴﹀浘鍍忎笌褰╄壊鍥惧儚濡傚悓瀹冧滑鍙栬嚜鍚屼竴瑙嗙偣锛堝嵆锛屽僵鑹茬浉鏈虹殑瑙嗙偣锛夈€
瀹炵幇
姝よ浆鎹㈠嚱鏁版瘮鍗曠函閽堝姣忎釜鍍忕礌璋冪敤 k4a_calibration_2d_to_2d() 鏇翠负澶嶆潅銆 瀹冨皢娣卞害鐩告満鍑犱綍缁撴瀯涓殑涓夎缃戞牸鎵洸鎴愬僵鑹茬浉鏈虹殑鍑犱綍缁撴瀯銆 浣跨敤涓夎缃戞牸鍙互閬垮厤杞崲鐨勬繁搴﹀浘鍍忓嚭鐜板瓟娲炪€ Z 缂撳啿鍖虹‘淇濇纭鐞嗛伄鎸＄墿銆 榛樿宸蹭负姝ゅ嚱鏁板惎鐢 GPU 鍔犻€熴€
鍙傛暟
杈撳叆鍙傛暟鏄浆鎹㈠彞鏌勫拰娣卞害鍥惧儚銆 娣卞害鍥惧儚鐨勫垎杈ㄧ巼蹇呴』涓庡垱寤鸿浆鎹㈠彞鏌勬椂鎸囧畾鐨 depth_mode 鐩稿尮閰嶃€ 渚嬪锛屽鏋滆浆鎹㈠彞鏌勬槸浣跨敤 1024x1024 K4A_DEPTH_MODE_WFOV_UNBINNED 妯″紡鍒涘缓鐨勶紝鍒欐繁搴﹀浘鍍忕殑鍒嗚鲸鐜囧繀椤绘槸 1024x1024 鍍忕礌銆 杈撳嚭鏄渶瑕佺敱鐢ㄦ埛璋冪敤 k4a_image_create() 鍒嗛厤鐨勫凡杞崲娣卞害鍥惧儚銆 宸茶浆鎹㈢殑娣卞害鍥惧儚鐨勫垎杈ㄧ巼蹇呴』涓庡垱寤鸿浆鎹㈠彞鏌勬椂鎸囧畾鐨 color_resolution 鐩稿尮閰嶃€ 渚嬪锛屽鏋滃僵鑹插垎杈ㄧ巼璁剧疆涓 K4A_COLOR_RESOLUTION_1080P锛屽垯杈撳嚭鍥惧儚鐨勫垎杈ㄧ巼蹇呴』鏄 1920x1080 鍍忕礌銆 杈撳嚭鍥惧儚姝ュ箙璁剧疆涓 width * sizeof(uint16_t)锛屽洜涓哄浘鍍忓瓨鍌 16 浣嶆繁搴﹀€笺€
k4a_transformation_depth_image_to_color_camera_custom
姒傝堪
鍑芥暟 k4a_transformation_depth_image_to_color_camera_custom() 灏嗘繁搴﹀浘鍜岃嚜瀹氫箟鍥惧儚浠庢繁搴︾浉鏈虹殑瑙嗙偣杞崲涓哄僵鑹茬浉鏈虹殑瑙嗙偣銆 浣滀负 k4a_transformation_depth_image_to_color_camera() 鐨勬墿灞曪紝姝ゅ嚱鏁版棬鍦ㄨ兘鐢熸垚瀵瑰簲鐨勮嚜瀹氫箟鍥惧儚锛屽叾姣忎釜鍍忕礌涓庡僵鑹茬浉鏈虹殑鐩稿簲鍍忕礌鍧愭爣鐩稿尮閰嶃€
瀹炵幇
姝よ浆鎹㈠嚱鏁扮敓鎴愯浆鎹㈢殑娣卞害鍥惧儚鐨勬柟寮忎笌 k4a_transformation_depth_image_to_color_camera() 鐩稿悓銆 鑻ヨ杞崲鑷畾涔夊浘鍍忥紝姝ゅ嚱鏁版彁渚涗簡浣跨敤绾挎€у唴鎻掓垨鏈€杩戠殑閭诲煙鍐呮彃鐨勯€夐」銆 浣跨敤绾挎€у唴鎻掑彲浠ュ湪杞崲鍚庣殑鑷畾涔夊浘鍍忎腑鍒涘缓鏂板€笺€ 浣跨敤鏈€杩戠殑閭诲煙鍐呮彃灏嗛槻姝㈠師濮嬪浘鍍忎腑涓嶅瓨鍦ㄧ殑鍊煎嚭鐜板湪杈撳嚭鍥惧儚涓紝浣嗕細瀵艰嚧鍥惧儚涓嶅お骞虫粦銆 鑷畾涔夊浘鍍忓簲涓哄崟閫氶亾 8 浣嶆垨 16 浣嶃€ 榛樿宸蹭负姝ゅ嚱鏁板惎鐢 GPU 鍔犻€熴€
鍙傛暟
杈撳叆鍙傛暟涓鸿浆鎹㈠彞鏌勩€佹繁搴﹀浘鍍忋€佽嚜瀹氫箟鍥惧儚鍜屽唴鎻掔被鍨嬨€ 娣卞害鍥惧儚鍜岃嚜瀹氫箟鍥惧儚鐨勫垎杈ㄧ巼蹇呴』涓庡垱寤鸿浆鎹㈠彞鏌勬椂鎸囧畾鐨 depth_mode 鐩稿尮閰嶃€ 渚嬪锛屽鏋滆浆鎹㈠彞鏌勬槸浣跨敤 1024x1024 K4A_DEPTH_MODE_WFOV_UNBINNED 妯″紡鍒涘缓鐨勶紝鍒欐繁搴﹀浘鍍忓拰鑷畾涔夊浘鍍忕殑鍒嗚鲸鐜囧繀椤绘槸 1024x1024 鍍忕礌銆 interpolation_type 搴斾负 K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR 鎴 K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST銆 杈撳嚭鏄浆鎹㈠悗鐨勬繁搴﹀浘鍍忓拰杞崲鍚庣殑鑷畾涔夊浘鍍忥紝闇€瑕佺敱鐢ㄦ埛閫氳繃璋冪敤 k4a_image_create() 鏉ュ垎閰嶃€ 杞崲鍚庣殑娣卞害鍥惧儚鍜岃浆鎹㈠悗鐨勮嚜瀹氫箟鍥惧儚鐨勫垎杈ㄧ巼蹇呴』涓庡垱寤鸿浆鎹㈠彞鏌勬椂鎸囧畾鐨 color_resolution 鐩稿尮閰嶃€ 渚嬪锛屽鏋滃僵鑹插垎杈ㄧ巼璁剧疆涓 K4A_COLOR_RESOLUTION_1080P锛屽垯杈撳嚭鍥惧儚鐨勫垎杈ㄧ巼蹇呴』鏄 1920x1080 鍍忕礌銆 杈撳嚭娣卞害鍥惧儚姝ュ箙璁剧疆涓 width * sizeof(uint16_t)锛屽洜涓鸿鍥惧儚瀛樺偍 16 浣嶆繁搴﹀€笺€ 杈撳叆鐨勮嚜瀹氫箟鍥惧儚鍜岃浆鎹㈠悗鐨勮嚜瀹氫箟鍥惧儚鐨勬牸寮忓繀椤讳负 K4A_IMAGE_FORMAT_CUSTOM8 鎴 K4A_IMAGE_FORMAT_CUSTOM16锛屽簲鐩稿簲璁剧疆瀵瑰簲鐨勫浘鍍忔骞呫€
k4a_transformation_color_image_to_depth_camera
姒傝堪
鍑芥暟 k4a_transformation_color_image_to_depth_camera() 灏嗗僵鑹插浘鍍忎粠褰╄壊鐩告満鐨勮鐐硅浆鎹负娣卞害鐩告満鐨勮鐐癸紙鍙傞槄涓婂浘锛夈€ 浣跨敤姝ゅ嚱鏁板彲浠ョ敓鎴 RGB-D 鍥惧儚銆
瀹炵幇
瀵逛簬娣卞害鍥剧殑姣忎釜鍍忕礌锛岃鍑芥暟浣跨敤鍍忕礌鐨勬繁搴﹀€兼潵璁＄畻褰╄壊鍥惧儚涓殑鐩稿簲瀛愬儚绱犲潗鏍囥€ 鐒跺悗锛屾垜浠皢鍦ㄥ僵鑹插浘鍍忎腑鐨勬鍧愭爣澶勬煡鎵鹃鑹插€笺€ 鍦ㄥ僵鑹插浘鍍忎腑鎵ц鍙岀嚎鎬у唴鎻掞紝浠ヨ幏鍙栧瓙鍍忕礌绮惧害鐨勯鑹插€笺€ 娌℃湁鍏宠仈鐨勬繁搴﹁鏁扮殑鍍忕礌灏嗗垎閰嶅埌杈撳嚭鍥惧儚涓殑 BGRA 鍊 [0,0,0,0]銆 榛樿宸蹭负姝ゅ嚱鏁板惎鐢 GPU 鍔犻€熴€ 鐢变簬姝ゆ柟娉曚細鍦ㄨ浆鎹㈢殑褰╄壊鍥惧儚涓骇鐢熷瓟娲烇紝骞朵笖涓嶄細澶勭悊閬尅鐗╋紝鍥犳鎴戜滑寤鸿鏀圭敤鍑芥暟 k4a_transformation_depth_image_to_color_camera()銆
鍙傛暟
杈撳叆鍙傛暟鏄浆鎹㈠彞鏌勩€佹繁搴﹀浘鍍忓拰褰╄壊鍥惧儚銆 娣卞害鍥惧儚鍜屽僵鑹插浘鍍忕殑鍒嗚鲸鐜囧繀椤讳笌鍒涘缓杞崲鍙ユ焺鏃舵寚瀹氱殑 depth_mode 鍜 color_resolution 鐩稿尮閰嶃€ 杈撳嚭鏄渶瑕佺敱鐢ㄦ埛璋冪敤 k4a_image_create() 鍒嗛厤鐨勫凡杞崲褰╄壊鍥惧儚銆 宸茶浆鎹㈢殑褰╄壊鍥惧儚鐨勫垎杈ㄧ巼蹇呴』涓庡垱寤鸿浆鎹㈠彞鏌勬椂鎸囧畾鐨 depth_resolution 鐩稿尮閰嶃€ 杈撳嚭鍥惧儚瀛樺偍鍥涗釜 8 浣嶅€硷紙琛ㄧず姣忎釜鍍忕礌鐨 BGRA锛夈€ 鍥犳锛屽浘鍍忕殑姝ュ箙涓 width * 4 * sizeof(uint8_t)銆 鏁版嵁椤哄簭涓哄儚绱犱氦閿欏紡锛屽嵆锛岃摑鑹插€ - 鍍忕礌 0锛岀豢鑹插€ - 鍍忕礌 0锛岀孩鑹插€ - 鍍忕礌 0锛宎lpha 鍊 - 鍍忕礌 0锛岃摑鑹插€ - 1锛屼緷姝ょ被鎺ㄣ€
k4a_transformation_depth_image_to_point_cloud
姒傝堪
鍑芥暟 k4a_transformation_depth_image_to_point_cloud() 灏嗙浉鏈烘媿鎽勭殑 2D 娣卞害鍥捐浆鎹负鍚屼竴鐩告満鐨勫潗鏍囩郴涓殑 3D 鐐逛簯銆 鍥犳锛岀浉鏈哄彲浠ユ槸娣卞害鐩告満鎴栧僵鑹茬浉鏈恒€
瀹炵幇
璇ュ嚱鏁扮殑缁撴灉涓庨拡瀵规瘡涓儚绱犺繍琛 k4a_calibration_2d_to_2d() 鐨勭粨鏋滅浉鍚岋紝涓嶈繃璁＄畻鏁堢巼鏇撮珮銆 璋冪敤 k4a_transformation_create() 鏃讹紝鎴戜滑浼氶鍏堣绠椾竴涓墍璋撶殑 xy 鏌ユ壘琛紝鐢ㄤ簬瀛樺偍姣忎釜鍥惧儚鍍忕礌鐨 x 鍜 y 姣斾緥鍥犲瓙銆 璋冪敤 k4a_transformation_depth_image_to_point_cloud() 鏃讹紝鎴戜滑浼氶€氳繃灏嗗儚绱犵殑 x 姣斾緥鍥犲瓙涓庡儚绱犵殑 Z 鍧愭爣鐩镐箻锛屾潵鑾峰彇鍍忕礌鐨 3D X 鍧愭爣銆 绫讳技鍦帮紝涓 y 姣斾緥鍥犲瓙鐩镐箻鍙互璁＄畻鍑 3D Y 鍧愭爣銆 SDK 鐨蹇€熺偣浜戠ず渚 婕旂ず浜嗗浣曡绠 xy 琛ㄣ€ 渚嬪锛岀敤鎴峰彲浠ラ伒寰ず渚嬩唬鐮佸疄鐜板叾鑷湁鐗堟湰鐨勬鍑芥暟锛屼互鍔犻€熷叾 GPU 绠￠亾銆
鍙傛暟
杈撳叆鍙傛暟鏄浆鎹㈠彞鏌勩€佺浉鏈鸿鏄庣鍜屾繁搴﹀浘鍍忋€ 濡傛灉鐩告満璇存槑绗﹁缃负娣卞害锛屽垯娣卞害鍥惧儚鐨勫垎杈ㄧ巼蹇呴』涓庡垱寤鸿浆鎹㈠彞鏌勬椂鎸囧畾鐨 depth_mode 鐩稿尮閰嶃€ 鍚﹀垯锛屽鏋滆鏄庣璁剧疆涓哄僵鑹茬浉鏈猴紝鍒欏垎杈ㄧ巼蹇呴』涓庢墍閫 color_resolution 鐨勫垎杈ㄧ巼鐩稿尮閰嶃€ 杈撳嚭鍙傛暟鏄渶瑕佺敱鐢ㄦ埛璋冪敤 k4a_image_create() 鍒嗛厤鐨 XYZ 鍥惧儚銆 璇 XYZ 鍥惧儚鐨勫垎杈ㄧ巼蹇呴』涓庤緭鍏ョ殑娣卞害鍥剧殑鍒嗚鲸鐜囩浉鍖归厤銆 鎴戜滑灏嗕负姣忎釜鍍忕礌瀛樺偍涓変釜甯︾鍙风殑 16 浣嶅潗鏍囧€硷紙浠ユ绫充负鍗曚綅锛夈€ 鍥犳锛孹YZ 鍥惧儚姝ュ箙璁剧疆涓 width * 3 * sizeof(int16_t)銆 鏁版嵁椤哄簭涓哄儚绱犱氦閿欏紡锛屽嵆锛孹 鍧愭爣 鈥 鍍忕礌 0锛孻 鍧愭爣 鈥 鍍忕礌 0锛孼 鍧愭爣 鈥 鍍忕礌 0锛孹 鍧愭爣 鈥 鍍忕礌 1锛屼緷姝ょ被鎺ㄣ€ 濡傛灉鏃犳硶灏嗘煇涓儚绱犺浆鎹负 3D锛岃鍑芥暟灏嗕负璇ュ儚绱犲垎閰嶅€ [0,0,0]銆
绀轰緥
杞崲绀轰緥
鍚庣画姝ラ
浜嗚В濡備綍浣跨敤 Femto Bolt 3D 鐩告満SDK 鍥惧儚杞崲鍑芥暟鍚庯紝鎺ヤ笅鏉ヨ繕鍙互浜嗚В鏍″噯鍑芥暟銆