ProjectDepthToCamera renvoie 0 pour tous les xyz de pos3d

Question

Je ne suis pas sûr pourquoi toutes les valeurs x, y, z se trouvent être zéro dans pos3d dans le code suivant. S'il vous plaît suggérer des corrections:

/*** 
Reads the depth data from the sensor and fills in the matrix 
***/ 
void SR300Camera::fillInZCoords() 
{ 

    PXCImage::ImageData depthImage; 
    PXCImage *depthMap = sample->depth; 
    depthMap->AcquireAccess(PXCImage::ACCESS_READ, &depthImage); 
    PXCImage::ImageInfo imgInfo = depthMap->QueryInfo(); 
    cout << "inImg->QueryInfo() " << depthImage.format << endl; 
    PXCPoint3DF32 * pos2d = new PXCPoint3DF32[depth_width*depth_height]; 
    int depth_stride = depthImage.pitches[0]/sizeof(pxcU16); 

    for (int y = 0, k = 0; y < depth_height; y++) { 
     for (int x = 0; x < depth_width; x++, k++) { 
      pos2d[k].x = (pxcF32)x; 
      pos2d[k].y = (pxcF32)y; 
      pos2d[k].z = ((short *)depthImage.planes[0])[y* depth_stride + x]; 
     } 
    } 

    //Point3DF32 * pos3d = NULL; 
    PXCPoint3DF32 * pos3d = new Point3DF32[depth_width*depth_height]; 
    PXCPoint3DF32 * vertices = new PXCPoint3DF32[depth_width * depth_height]; 
    Projection * projection = device->CreateProjection(); 
    projection->ProjectDepthToCamera(depth_width*depth_height, pos2d, pos3d); 
    cout << "x is " << pos3d->x*1000 << endl; 
    cout << "y is " << pos3d->y*1000 << endl; 
    cout << "z is " << pos3d->z*1000 << endl; 

} 

Answer 1

Voici une réponse vérifiée pour obtenir la carte XYZ sur l'image profondeur UV-Map: m d'état = 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(); 
    } 
    for (int k = 0; k < num_pixels; k++) { 

      if (pos3D[k].x != 0) { 
      cout << " xx is: " << pos3D[k].x << endl; 
      } 
      if (pos3D[k].y != 0) { 
      cout << " yy is: " << pos3D[k].y << endl; 
      } 
      if (pos3D[k].z != 0) { 
      cout << " zz is: " << pos3D[k].z << endl; 
      } 
      }