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Azure kinect #51

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Azure kinect #51

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f49bcaf
Working with Azure Kinect but without body and only single sensor per…
Aug 16, 2019
e2a03f9
Added support for multiple Azure Kinects on same machine
Aug 16, 2019
4dfb576
Changed to next version of Kinect SDK
Sep 18, 2019
9c219fb
Fixed memory leak
Sep 18, 2019
4a4f9ae
Synchronized mode gets slightly better framerate when multiple device…
Sep 18, 2019
da2c304
Added Temporal Sync functionality
Jun 10, 2020
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
1544abd
Finished Temporal Sync Feature
Jul 8, 2020
2b15ed0
Cleaned up
Jul 8, 2020
df80603
Change snake_case to camelCase, removed unused code, change interpola…
Jul 29, 2020
13e634f
Merge pull request #48 from ChristopherRemde/AzureKinect_Mapping_Fix
MarekKowalski Aug 4, 2020
76bf5e9
Added new UI for the Temporal Sync Feature, made the software more ro…
Oct 14, 2020
6b98312
Merge branch 'AzureKinect' into Azure_Kinect_Temp_Sync
ChristopherRemde Oct 20, 2020
3192da1
Readme Update
ChristopherRemde Dec 14, 2020
6fed026
Added documentation for Azure Kinect features
ChristopherRemde Dec 14, 2020
7d56c52
Merge pull request #49 from ChristopherRemde/Azure_Kinect_Temp_Sync
MarekKowalski Mar 6, 2021
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16 changes: 8 additions & 8 deletions ICP/ICP.vcxproj
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|Win32">
<Configuration>Debug</Configuration>
Expand Down Expand Up @@ -29,46 +29,46 @@
<PropertyGroup Label="Globals">
<ProjectGuid>{973EE923-B423-4BCD-AA08-B03DA40CB51F}</ProjectGuid>
<RootNamespace>ICP</RootNamespace>
<WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
<WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
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30 changes: 20 additions & 10 deletions LiveScanClient/KinectClient.vcxproj
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<ItemGroup Label="ProjectConfigurations">
<ProjectConfiguration Include="Debug|Win32">
<Configuration>Debug</Configuration>
Expand All @@ -19,13 +19,13 @@
</ProjectConfiguration>
</ItemGroup>
<ItemGroup>
<ClInclude Include="..\include\LiveScanClient\azureKinectCapture.h" />
<ClInclude Include="..\include\LiveScanClient\calibration.h" />
<ClInclude Include="..\include\LiveScanClient\filter.h" />
<ClInclude Include="..\include\LiveScanClient\frameFileWriterReader.h" />
<ClInclude Include="..\include\LiveScanClient\iCapture.h" />
<ClInclude Include="..\include\LiveScanClient\imageRenderer.h" />
<ClInclude Include="..\include\LiveScanClient\iMarker.h" />
<ClInclude Include="..\include\LiveScanClient\kinectCapture.h" />
<ClInclude Include="..\include\LiveScanClient\liveScanClient.h" />
<ClInclude Include="..\include\LiveScanClient\marker.h" />
<ClInclude Include="..\include\LiveScanClient\utils.h" />
Expand All @@ -35,13 +35,13 @@
<ClInclude Include="stdafx.h" />
</ItemGroup>
<ItemGroup>
<ClCompile Include="..\src\LiveScanClient\azureKinectCapture.cpp" />
<ClCompile Include="..\src\LiveScanClient\calibration.cpp" />
<ClCompile Include="..\src\LiveScanClient\filter.cpp" />
<ClCompile Include="..\src\LiveScanClient\frameFileWriterReader.cpp" />
<ClCompile Include="..\src\LiveScanClient\iCapture.cpp" />
<ClCompile Include="..\src\LiveScanClient\imageRenderer.cpp" />
<ClCompile Include="..\src\LiveScanClient\iMarker.cpp" />
<ClCompile Include="..\src\LiveScanClient\kinectCapture.cpp" />
<ClCompile Include="..\src\LiveScanClient\liveScanClient.cpp" />
<ClCompile Include="..\src\LiveScanClient\marker.cpp" />
<ClCompile Include="..\src\LiveScanClient\utils.cpp" />
Expand All @@ -53,36 +53,39 @@
<ItemGroup>
<Image Include="app.ico" />
</ItemGroup>
<ItemGroup>
<None Include="packages.config" />
</ItemGroup>
<PropertyGroup Label="Globals">
<ProjectGuid>{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}</ProjectGuid>
<RootNamespace>KinectClient</RootNamespace>
<ProjectName>LiveScanClient</ProjectName>
<WindowsTargetPlatformVersion>8.1</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>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v140</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>v140</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
Expand Down Expand Up @@ -144,7 +147,7 @@
<Link>
<GenerateDebugInformation>true</GenerateDebugInformation>
<AdditionalLibraryDirectories>$(KINECTSDK20_DIR)\lib\x64;$(SolutionDir)lib</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world320d.lib;kinect20.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalDependencies>opencv_world320d.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies>
<SubSystem>NotSet</SubSystem>
</Link>
</ItemDefinitionGroup>
Expand Down Expand Up @@ -184,11 +187,18 @@
<GenerateDebugInformation>true</GenerateDebugInformation>
<EnableCOMDATFolding>true</EnableCOMDATFolding>
<OptimizeReferences>true</OptimizeReferences>
<AdditionalDependencies>opencv_world320.lib;kinect20.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalDependencies>opencv_world320.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>$(KINECTSDK20_DIR)\lib\x64;$(SolutionDir)lib</AdditionalLibraryDirectories>
</Link>
</ItemDefinitionGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">
<Import Project="..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets" Condition="Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" />
</ImportGroup>
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
<PropertyGroup>
<ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them. For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText>
</PropertyGroup>
<Error Condition="!Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets'))" />
</Target>
</Project>
15 changes: 9 additions & 6 deletions LiveScanClient/KinectClient.vcxproj.filters
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Expand Up @@ -42,9 +42,6 @@
<ClInclude Include="..\include\LiveScanClient\iMarker.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="..\include\LiveScanClient\kinectCapture.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="..\include\LiveScanClient\liveScanClient.h">
<Filter>Header Files</Filter>
</ClInclude>
Expand All @@ -57,6 +54,9 @@
<ClInclude Include="..\include\LiveScanClient\frameFileWriterReader.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="..\include\LiveScanClient\azureKinectCapture.h">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="..\src\socketCS.cpp">
Expand All @@ -77,9 +77,6 @@
<ClCompile Include="..\src\LiveScanClient\iMarker.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="..\src\LiveScanClient\kinectCapture.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="..\src\LiveScanClient\liveScanClient.cpp">
<Filter>Source Files</Filter>
</ClCompile>
Expand All @@ -92,6 +89,9 @@
<ClCompile Include="..\src\LiveScanClient\frameFileWriterReader.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="..\src\LiveScanClient\azureKinectCapture.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<Image Include="app.ico">
Expand All @@ -103,4 +103,7 @@
<Filter>Resource Files</Filter>
</ResourceCompile>
</ItemGroup>
<ItemGroup>
<None Include="packages.config" />
</ItemGroup>
</Project>
4 changes: 4 additions & 0 deletions LiveScanClient/packages.config
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@@ -0,0 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="Microsoft.Azure.Kinect.Sensor" version="1.4.1" targetFramework="native" />
</packages>
2 changes: 0 additions & 2 deletions LiveScanPlayer/FrameFileReaderBin.cs
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Expand Up @@ -46,8 +46,6 @@ public void ReadFrame(List<float> vertices, List<byte> colors)
lineParts = ReadLine().Split(' ');
int frameTimestamp = Int32.Parse(lineParts[1]);

Console.WriteLine((frameTimestamp / 1000).ToString());

short[] tempVertices = new short[3 * nPoints];
byte[] tempColors = new byte[4 * nPoints];

Expand Down
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