[링크 : https://www.bryancook.net/2014/03/mapping-between-kinect-color-and-depth.html]
[링크 : https://stackoverflow.com/questions/29479746/kinect-v2-color-depth-mapping-using-c-sharp]
[링크 : https://kr.mathworks.com/matlabcentral/answers/268152-mapping-rgb-and-depth-kinect-v2]
[링크 : https://tommyhsm.tistory.com/124]
libfreenct의 Protonect 실행하는 부분에서, rgb와 depth를 어떻게 매핑하는지 궁금해서 찾아보는데 크게 자료가 있진 않다.
| /// [registration setup] libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams()); libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4); /// [loop start] while(!protonect_shutdown && (framemax == (size_t)-1 || framecount < framemax)) { if (!listener.waitForNewFrame(frames, 10*1000)) // 10 sconds { std::cout << "timeout!" << std::endl; return -1; } libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color]; libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir]; libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth]; /// [loop start] if (enable_rgb && enable_depth) { /// [registration] registration->apply(rgb, depth, &undistorted, ®istered); /// [registration] } framecount++; if (!viewer_enabled) { if (framecount % 100 == 0) std::cout << "The viewer is turned off. Received " << framecount << " frames. Ctrl-C to stop." << std::endl; listener.release(frames); continue; } #ifdef EXAMPLES_WITH_OPENGL_SUPPORT if (enable_rgb) { viewer.addFrame("RGB", rgb); } if (enable_depth) { viewer.addFrame("ir", ir); viewer.addFrame("depth", depth); } if (enable_rgb && enable_depth) { viewer.addFrame("registered", ®istered); } protonect_shutdown = protonect_shutdown || viewer.render(); #endif /// [loop end] listener.release(frames); /** libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(100)); */ } /// [loop end] |
| void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth, int *color_depth_map) const { impl_->apply(rgb, depth, undistorted, registered, enable_filter, bigdepth, color_depth_map); } void RegistrationImpl::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth, int *color_depth_map) const { // Check if all frames are valid and have the correct size if (!rgb || !depth || !undistorted || !registered || rgb->width != 1920 || rgb->height != 1080 || rgb->bytes_per_pixel != 4 || depth->width != 512 || depth->height != 424 || depth->bytes_per_pixel != 4 || undistorted->width != 512 || undistorted->height != 424 || undistorted->bytes_per_pixel != 4 || registered->width != 512 || registered->height != 424 || registered->bytes_per_pixel != 4) return; const float *depth_data = (float*)depth->data; const unsigned int *rgb_data = (unsigned int*)rgb->data; float *undistorted_data = (float*)undistorted->data; unsigned int *registered_data = (unsigned int*)registered->data; const int *map_dist = distort_map; const float *map_x = depth_to_color_map_x; const int *map_yi = depth_to_color_map_yi; const int size_depth = 512 * 424; const int size_color = 1920 * 1080; const float color_cx = color.cx + 0.5f; // 0.5f added for later rounding // size of filter map with a border of filter_height_half on top and bottom so that no check for borders is needed. // since the color image is wide angle no border to the sides is needed. const int size_filter_map = size_color + 1920 * filter_height_half * 2; // offset to the important data const int offset_filter_map = 1920 * filter_height_half; // map for storing the min z values used for each color pixel float *filter_map = NULL; // pointer to the beginning of the important data float *p_filter_map = NULL; // map for storing the color offset for each depth pixel int *depth_to_c_off = color_depth_map ? color_depth_map : new int[size_depth]; int *map_c_off = depth_to_c_off; // initializing the depth_map with values outside of the Kinect2 range if(enable_filter){ filter_map = bigdepth ? (float*)bigdepth->data : new float[size_filter_map]; p_filter_map = filter_map + offset_filter_map; for(float *it = filter_map, *end = filter_map + size_filter_map; it != end; ++it){ *it = std::numeric_limits<float>::infinity(); } } /* Fix depth distortion, and compute pixel to use from 'rgb' based on depth measurement, * stored as x/y offset in the rgb data. */ // iterating over all pixels from undistorted depth and registered color image // the four maps have the same structure as the images, so their pointers are increased each iteration as well for(int i = 0; i < size_depth; ++i, ++undistorted_data, ++map_dist, ++map_x, ++map_yi, ++map_c_off){ // getting index of distorted depth pixel const int index = *map_dist; // check if distorted depth pixel is outside of the depth image if(index < 0){ *map_c_off = -1; *undistorted_data = 0; continue; } // getting depth value for current pixel const float z = depth_data[index]; *undistorted_data = z; // checking for invalid depth value if(z <= 0.0f){ *map_c_off = -1; continue; } // calculating x offset for rgb image based on depth value const float rx = (*map_x + (color.shift_m / z)) * color.fx + color_cx; const int cx = rx; // same as round for positive numbers (0.5f was already added to color_cx) // getting y offset for depth image const int cy = *map_yi; // combining offsets const int c_off = cx + cy * 1920; // check if c_off is outside of rgb image // checking rx/cx is not needed because the color image is much wider then the depth image if(c_off < 0 || c_off >= size_color){ *map_c_off = -1; continue; } // saving the offset for later *map_c_off = c_off; if(enable_filter){ // setting a window around the filter map pixel corresponding to the color pixel with the current z value int yi = (cy - filter_height_half) * 1920 + cx - filter_width_half; // index of first pixel to set for(int r = -filter_height_half; r <= filter_height_half; ++r, yi += 1920) // index increased by a full row each iteration { float *it = p_filter_map + yi; for(int c = -filter_width_half; c <= filter_width_half; ++c, ++it) { // only set if the current z is smaller if(z < *it) *it = z; } } } } /* Construct 'registered' image. */ // reseting the pointers to the beginning map_c_off = depth_to_c_off; undistorted_data = (float*)undistorted->data; /* Filter drops duplicate pixels due to aspect of two cameras. */ if(enable_filter){ // run through all registered color pixels and set them based on filter results for(int i = 0; i < size_depth; ++i, ++map_c_off, ++undistorted_data, ++registered_data){ const int c_off = *map_c_off; // check if offset is out of image if(c_off < 0){ *registered_data = 0; continue; } f const float min_z = p_filter_map[c_off]; const float z = *undistorted_data; // check for allowed depth noise *registered_data = (z - min_z) / z > filter_tolerance ? 0 : *(rgb_data + c_off); } if (!bigdepth) delete[] filter_map; } else { // run through all registered color pixels and set them based on c_off for(int i = 0; i < size_depth; ++i, ++map_c_off, ++registered_data){ const int c_off = *map_c_off; // check if offset is out of image *registered_data = c_off < 0 ? 0 : *(rgb_data + c_off); } } if (!color_depth_map) delete[] depth_to_c_off; } |
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