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legop3
2026-06-07 04:09:35 -04:00
parent c636b41cbc
commit 4efc2be646
6 changed files with 115 additions and 48 deletions
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server/src/services/kinectService/native/kinect_worker.cpp
+12 -9
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@@ -262,29 +262,32 @@ void handle_pointcloud(int id) {
};
// Registered depth aligns with RGB, so each valid depth pixel can become a
// colored point without an additional calibration lookup. Invalid zero-depth
// pixels are skipped to keep the payload and browser point count smaller.
// colored vertex without an additional calibration lookup. Keep one fixed
// record for every 640x480 pixel, including invalid depth pixels, because the
// browser needs the original image grid to decide which neighboring vertices
// can be connected into triangles. Invalid pixels get alpha 0 and zeroed
// coordinates; the viewer skips them when building the surface mesh.
for (int y = 0; y < kHeight; y += 1) {
for (int x = 0; x < kWidth; x += 1) {
const int idx = y * kWidth + x;
const uint16_t z_mm = depth[idx];
if (z_mm == 0) continue;
const float z = static_cast<float>(z_mm) / 1000.0f;
const float world_x = (static_cast<float>(x) - center_x) * z / focal_x;
const float world_y = -(static_cast<float>(y) - center_y) * z / focal_y;
const bool valid = z_mm != 0;
const float z = valid ? static_cast<float>(z_mm) / 1000.0f : 0.0f;
const float world_x = valid ? (static_cast<float>(x) - center_x) * z / focal_x : 0.0f;
const float world_y = valid ? -(static_cast<float>(y) - center_y) * z / focal_y : 0.0f;
append_float(world_x);
append_float(world_y);
append_float(z);
payload.push_back(rgb[idx * 3 + 0]);
payload.push_back(rgb[idx * 3 + 1]);
payload.push_back(rgb[idx * 3 + 2]);
payload.push_back(255);
point_count += 1;
payload.push_back(valid ? 255 : 0);
if (valid) point_count += 1;
}
}
std::ostringstream meta;
meta << ",\"kind\":\"pointCloud\",\"format\":\"xyzrgb-f32-u8\",\"width\":" << kWidth
meta << ",\"kind\":\"pointCloud\",\"format\":\"xyzrgb-grid-f32-u8\",\"grid\":true,\"width\":" << kWidth
<< ",\"height\":" << kHeight << ",\"pointCount\":" << point_count
<< ",\"rgbFrameAgeMs\":" << rgb_age << ",\"depthFrameAgeMs\":" << depth_age;
write_packet(id, meta.str(), payload);