Kinect-Dk獲取深度圖
阿新 • • 發佈：2022-03-22
基於Kinect-Dk的多聚焦影象融合
2021.7.16
本機環境
Visual Studio2019（需安裝c++拓展）
kinectSDK1.4.1
新建空白C++控制檯工程並新增原始檔Main.cpp
使用kinect-dk
1、下載SDK
此處為Github倉庫提供下載，選擇最新版本1.4.1最新版即可。
這裡我建議安裝到C盤，會直接出現在根目錄下
SDK目錄下是一些標頭檔案
tools目錄下則是工具，總共有三種
Kinect檢視器可以啟動相機，或者開啟已經錄製好的視訊。並且展示KinectDk的三種模式，RGB模式，紅外模式，深度模式。
錄製器
主要使用命令列來執行，可以錄製一定長度的視訊。
命令列切換到tool目錄下
k4arecorder.exe -l 5 %TEMP%\output.mkv
即可錄製五秒視訊
完整引數介紹詳見此頁
https://docs.microsoft.com/zh-cn/azure/kinect-dk/azure-kinect-recorder
2、連線電源
在圖片中，type-c介面的線是資料介面，要連線到電腦上，要求USB3.0（如果連線不良可以檢查一下是否是使用了拓展塢，嘗試使用電腦自帶的USB3.0介面）
圓形介面的線是電源線，需要連線到電源。
專案部署
1、新建空白C++控制檯工程並新增原始檔Main.cpp
2、安裝 Azure Kinect NuGet 包
右鍵 引用 - 管理NuGet程式包
3、搜尋Microsoft.Azure.Kinect.Sensor，從列表中選擇該包並安裝。
4、搜尋cv
5、新增標頭檔案和庫檔案
5.1 加入標頭檔案k4a.h
直接右鍵 標頭檔案 - 新增 - 現有項，找到k4a.h匯入。預設路徑為C:\Program Files\Azure Kinect SDK v1.4.1\sdk\include\k4a
5.2 配置標頭檔案目錄和庫檔案目錄
右鍵自己的專案，選擇屬性，上方的平臺選擇 x64
- C/C++ - 常規 - 附加包含目錄，加入SDK的include路徑
- 連結器 - 常規 - 附加庫目錄，加入SDK的lib路徑
-
連結器 - 輸入 - 附加依賴項，加入k4a.lib
注意：每新增一項後，點選右下角應用。
專案執行
專案地址https://github.com/Applied-Energetic/KinectDK
在VS專案目錄下新建三個資料夾——rgb、depth、ir，輸出的圖片會儲存到這裡。
執行時點選本地Windows偵錯程式即可。
相機內參獲取
KinectDk內建深度相機，其焦距等引數為一個固定值，因此無法多聚焦，下面提供一種獲取焦距的方法。
獲取內參矩陣
#define VERIFY(result, error) \
if(result != K4A_RESULT_SUCCEEDED) \
{ \
printf("%s \n - (File: %s, Function: %s, Line: %d)\n", error, __FILE__, __FUNCTION__, __LINE__); \
exit(1); \
}
int main() {
uint32_t count = k4a_device_get_installed_count();
if (count == 0)
{
printf("No k4a devices attached!\n");
return 1;
}
// Open the first plugged in Kinect device
k4a_device_t device = NULL;
if (K4A_FAILED(k4a_device_open(K4A_DEVICE_DEFAULT, &device)))
{
printf("Failed to open k4a device!\n");
return 1;
}
// Get the size of the serial number
size_t serial_size = 0;
k4a_device_get_serialnum(device, NULL, &serial_size);
// Allocate memory for the serial, then acquire it
char* serial = (char*)(malloc(serial_size));
k4a_device_get_serialnum(device, serial, &serial_size);
printf("Opened device: %s\n", serial);
free(serial);
// Configure a stream of 4096x3072 BRGA color data at 15 frames per second
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config.camera_fps = K4A_FRAMES_PER_SECOND_15;
config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
config.color_resolution = K4A_COLOR_RESOLUTION_3072P;
// Start the camera with the given configuration
if (K4A_FAILED(k4a_device_start_cameras(device, &config)))
{
printf("Failed to start cameras!\n");
k4a_device_close(device);
return 1;
}
k4a_calibration_t sensor_calibration;
k4a_device_get_calibration(device, config.depth_mode, config.color_resolution, &sensor_calibration);
VERIFY(k4a_device_get_calibration(device, config.depth_mode, config.color_resolution, &sensor_calibration),
"Get depth camera calibration failed!");
k4a_transformation_create(&sensor_calibration);
cout << k4a_transformation_create(&sensor_calibration)<<endl;
// ...Camera capture and application specific code would go here...
// Shut down the camera when finished with application logic
k4a_device_stop_cameras(device);
k4a_device_close(device);
return 0;
}
#include <k4a/k4a.h>
#include <stdio.h>
#include <vector>
using namespace std;
#include "opencv2/core.hpp"
#include "opencv2/calib3d.hpp"
using namespace cv;
static void clean_up(k4a_device_t device)
{
if (device != NULL)
{
k4a_device_close(device);
}
}
int main(int argc, char** /*argv*/)
{
uint32_t device_count = 0;
k4a_device_t device = NULL;
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
if (argc != 1)
{
printf("Usage: opencv_example.exe\n");
return 2;
}
device_count = k4a_device_get_installed_count();
if (device_count == 0)
{
printf("No K4A devices found\n");
return 1;
}
if (K4A_RESULT_SUCCEEDED != k4a_device_open(K4A_DEVICE_DEFAULT, &device))
{
printf("Failed to open device\n");
clean_up(device);
return 1;
}
config.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED;
config.color_resolution = K4A_COLOR_RESOLUTION_1080P;
config.camera_fps = K4A_FRAMES_PER_SECOND_30;
k4a_calibration_t calibration;
if (K4A_RESULT_SUCCEEDED !=
k4a_device_get_calibration(device, config.depth_mode, config.color_resolution, &calibration))
{
printf("Failed to get calibration\n");
clean_up(device);
return 1;
}
vector<k4a_float3_t> points_3d = { { { 0.f, 0.f, 1000.f } }, // color camera center
{ { -1000.f, -1000.f, 1000.f } }, // color camera top left
{ { 1000.f, -1000.f, 1000.f } }, // color camera top right
{ { 1000.f, 1000.f, 1000.f } }, // color camera bottom right
{ { -1000.f, 1000.f, 1000.f } } }; // color camera bottom left
// k4a project function
vector<k4a_float2_t> k4a_points_2d(points_3d.size());
for (size_t i = 0; i < points_3d.size(); i++)
{
int valid = 0;
k4a_calibration_3d_to_2d(&calibration,
&points_3d[i],
K4A_CALIBRATION_TYPE_COLOR,
K4A_CALIBRATION_TYPE_DEPTH,
&k4a_points_2d[i],
&valid);
}
// converting the calibration data to OpenCV format
// extrinsic transformation from color to depth camera
Mat se3 =
Mat(3, 3, CV_32FC1, calibration.extrinsics[K4A_CALIBRATION_TYPE_COLOR][K4A_CALIBRATION_TYPE_DEPTH].rotation);
Mat r_vec = Mat(3, 1, CV_32FC1);
Rodrigues(se3, r_vec);
Mat t_vec =
Mat(3, 1, CV_32F, calibration.extrinsics[K4A_CALIBRATION_TYPE_COLOR][K4A_CALIBRATION_TYPE_DEPTH].translation);
// intrinsic parameters of the depth camera
k4a_calibration_intrinsic_parameters_t* intrinsics = &calibration.depth_camera_calibration.intrinsics.parameters;
vector<float> _camera_matrix = {
intrinsics->param.fx, 0.f, intrinsics->param.cx, 0.f, intrinsics->param.fy, intrinsics->param.cy, 0.f, 0.f, 1.f
};
Mat camera_matrix = Mat(3, 3, CV_32F, &_camera_matrix[0]);
vector<float> _dist_coeffs = { intrinsics->param.k1, intrinsics->param.k2, intrinsics->param.p1,
intrinsics->param.p2, intrinsics->param.k3, intrinsics->param.k4,
intrinsics->param.k5, intrinsics->param.k6 };
Mat dist_coeffs = Mat(8, 1, CV_32F, &_dist_coeffs[0]);
// OpenCV project function
vector<Point2f> cv_points_2d(points_3d.size());
projectPoints(*reinterpret_cast<vector<Point3f>*>(&points_3d),
r_vec,
t_vec,
camera_matrix,
dist_coeffs,
cv_points_2d);
for (size_t i = 0; i < points_3d.size(); i++)
{
printf("3d point:\t\t\t(%.5f, %.5f, %.5f)\n", points_3d[i].v[0], points_3d[i].v[1], points_3d[i].v[2]);
printf("OpenCV projectPoints:\t\t(%.5f, %.5f)\n", cv_points_2d[i].x, cv_points_2d[i].y);
printf("k4a_calibration_3d_to_2d:\t(%.5f, %.5f)\n\n", k4a_points_2d[i].v[0], k4a_points_2d[i].v[1]);
}
cout << camera_matrix << endl;
//cout << intrinsics->param.fx << endl;
clean_up(device);
return 0;
}
結論
1、目前還沒找到修改相機的方法，官方人員的回覆是不能修改內參。
issue連結如下
https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1640
The calibration matrices (intrin, extrin) are unchangable for a given mode (wide pov, narrow pov, etc.). There is no variable lens focus.
Berlin, Germany
2、如果想要獲取多聚焦RGBD影象的話應該考慮更換一種裝置。
3、不更換裝置的前提下想要利用RGBD資料在影象融合領域進行訓練可能需要一種新的影象處理演算法。
引用
https://github.com/microsoft/Azure-Kinect-Sensor-SDK
此專案為KinectDk開發者倉庫，有問題可以在這裡詢問。