50 lines
2.3 KiB
Markdown
50 lines
2.3 KiB
Markdown
# Azure Kinect Transformation Example
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## Introduction
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The Azure Kinect Transformation Example shows the transformations between a color image, a depth image, and a point cloud.
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It has two modes: the **capture** mode and the **playback** mode.
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The Azure Kinect Transformation Example demonstrates the use of the Azure Kinect transformation functions
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`k4a_transformation_color_image_to_depth_camera()`, `k4a_transformation_depth_image_to_color_camera()` and
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`k4a_transformation_depth_image_to_point_cloud()`.
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### Capture Mode
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The **capture** mode in the example uses the device to record one capture (depth map + color image) and writes two color
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point cloud files (`color_to_depth.ply` and `depth_to_color.ply`) to the directory specified by the user. The directory
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provided by the user needs to exist. The color point cloud files can be viewed using [Meshlab](http://www.meshlab.net/).
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The first point cloud file (`color_to_depth.ply`) is generated by warping the color image into the geometry of the depth
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camera using `k4a_transformation_color_image_to_depth_camera()`. The resulting transformed color image provides a
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corresponding BGRA color reading for every pixel of the depth map.
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The second point cloud file (`depth_to_color.ply`) is generated by warping the depth map into the geometry of the color
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camera using `k4a_transformation_depth_image_to_color_camera()`. The resulting transformed depth map provides a
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corresponding depth reading for every pixel of the color image.
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### Playback Mode
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The **playback** mode extracts a single frame in a recording into a point cloud. The recording should be captured using
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`K4ARecorder` and should contain at least a color channel and a depth channel, along with calibration information.
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The point cloud is generated by warping the depth map into the geometry of the color camera and is stored in the `.ply`
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format. Note that the color channel needs to be in MJPEG format.
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## Usage Info
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```
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transformation_example capture <output_directory> [device_id]
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transformation_example playback <filename.mkv> [timestamp (ms)] [output_file]
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```
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### Examples:
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```
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transformation_example capture c:\temp\
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transformation_example capture output 1
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transformation_example playback output.mkv
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transformation_example playback output.mkv 2000
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transformation_example playback output.mkv 2000 c:\data\out.ply
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```
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