英特尔实感 3D 摄像头 (SR300) 的 pmdGet3DCoordinates 等效项是啥？

Posted 2023-02-17

【中文标题】英特尔实感 3D 摄像头 (SR300) 的 pmdGet3DCoordinates 等效项是啥？

【英文标题】：What's the equivalent of pmdGet3DCoordinates for Intel RealSense 3D camera (SR300)?英特尔实感 3D 摄像头 (SR300) 的 pmdGet3DCoordinates 等效项是什么？

【发布时间】：2017-05-15 17:36:42

【问题描述】：

我现在正在尝试为英特尔实感 3D 摄像头 (SR300) 编写 PMD 摄像头的类似代码。但是，我在 realsense SDK 中找不到做同样事情的方法。是否有针对此的 hack 或您有什么建议？

pmdGet3DCoordinates(PMDHandle hnd, float * data, size_t size);

一个示例用法是：

float * cartesianDist = new float[nRows*nCols*3];
res = pmdGet3DCoordinates(hnd, cartesianDist, nCols*nRows*3*sizeOf(float));

我需要这个函数来创建一个 xyzmap，如下面的代码：

int res = pmdGet3DCoordinates(hnd, dists, 3 * numPixels * sizeof(float)); 
xyzMap = cv::Mat(xyzMap.size(), xyzMap.type(), dists);

到目前为止，我已经编写了以下代码，我不知道它对 Intel RealSense 是否有意义。请随时发表评论。

void SR300Camera::fillInZCoords()

    //int res = pmdGet3DCoordinates(hnd, dists, 3 * numPixels * sizeof(float)); //store x,y,z coordinates dists (type: float*)
    ////float * zCoords = new float[1]; //store z-Coordinates of dists in zCoords
    //xyzMap = cv::Mat(xyzMap.size(), xyzMap.type(), dists);
    Projection *projection = pp->QueryCaptureManager()->QueryDevice()->CreateProjection();
    std::vector<Point3DF32> vertices;
    vertices.resize(bufferSize.width * bufferSize.height);
    projection->QueryVertices(sample->depth, &vertices[0]);
    xyzBuffer.clear();

    for (int i = 0; i < bufferSize.width*bufferSize.height; i++) 
        //cv::Point3f p;
        //p.x = vertices[i].x;
        //p.y = vertices[i].y;
        //p.z = vertices[i].z;
        //xyzBuffer.push_back(p);
        xyzBuffer.push_back(cv::Point3f(vertices[i].x, vertices[i].y, vertices[i].z));
    



    xyzMap = cv::Mat(xyzBuffer);
    projection->Release();

【问题讨论】：

您可能正在寻找mat.reshape()

@RickM。请检查更新

从您添加的内容来看，我仍然无法说出您想要什么。我仍然会再次写第一条评论，但这只是一个猜测。你想要这个xyzmap？矩阵式

格式与 xyzMap (cv::Mat) communities.intel.com/message/474715#474715

【参考方案1】：

sts = projection->QueryVertices(depthMap, &pos3D[0]); 几乎是等效的，可以将深度 UV 贴图转换为真实世界的 xyz 贴图。

   Status sts = sm ->AcquireFrame(true);


        if (sts < STATUS_NO_ERROR) 
            if (sts == Status::STATUS_STREAM_CONFIG_CHANGED) 
                wprintf_s(L"Stream configuration was changed, re-initilizing\n");
                sm ->Close();
            
        

        sample = sm->QuerySample();
        PXCImage *depthMap = sample->depth;
        renderd.RenderFrame(sample->depth);
        PXCImage::ImageData depthImage;
        depthMap->AcquireAccess(PXCImage::ACCESS_READ, &depthImage);
        PXCImage::ImageInfo imgInfo = depthMap->QueryInfo();
        int depth_stride = depthImage.pitches[0] / sizeof(pxcU16);
        PXCProjection * projection = device->CreateProjection();
        pxcU16 *dpixels = (pxcU16*)depthImage.planes[0];
        unsigned int dpitch = depthImage.pitches[0] / sizeof(pxcU16);
        PXCPoint3DF32 *pos3D = new PXCPoint3DF32[num_pixels];
        sts = projection->QueryVertices(depthMap, &pos3D[0]);
        if (sts < Status::STATUS_NO_ERROR) 
            wprintf_s(L"Projection was unsuccessful! \n");
            sm->Close();