search

orbbec / OrbbecSDK-K4A-Wrapper

This repo is forked from Azure-kinect-Sensor-SDK，contain the K4A wrapper for OrbbecSDK.
https://www.orbbec.com/
MIT License
34 stars 7 forks source link

Transformation.DepthImageToPointCloud does not work on OrbbecSDK v1.9.1 #41

Open Rudizzzz opened 7 months ago

Rudizzzz commented 7 months ago

I need to convert Depth image to PointCloud data.

Describe the bug

When I call Transformation.DepthImageToPointCloud the returning Image has all the data equals to 0.

To Reproduce

  1. Open the camera
  2. Get the Calibration object
  3. Create the Transformation object passing the Calibration object.
  4. Retrieve Depth Image.
  5. Check that Depth.Memory has data different from 0.
  6. Call Transformation.DepthImageToPointCloud passing the Depth Image.
  7. Check if the output Image Memory data has some byte different from 0.

Expected behavior

The output image from Transformation.DepthImageToPointCloud must have data different from 0.

Logs

Screenshots

Desktop (please complete the following information):

Additional context

On Azure SDK, the same code works well.

zhonghong322 commented 7 months ago

Is it normal to save point clouds using this sample? （https://github.com/orbbec/OrbbecSDK-K4A-Wrapper/tree/main/examples/transformation）

rudizz commented 7 months ago

Thanks @zhonghong322 for your reply. To my understanding the only way to get the Point Cloud is via the method k4a_transformation_depth_image_to_point_cloud(). And from what I've tried, it doesn't work on this Orbbec Wrapper. Are there other ways to do that?

zzuliys commented 6 months ago

Thanks @zhonghong322 for your reply. To my understanding the only way to get the Point Cloud is via the method k4a_transformation_depth_image_to_point_cloud(). And from what I've tried, it doesn't work on this Orbbec Wrapper. Are there other ways to do that?

https://github.com/orbbec/OrbbecSDK-K4A-Wrapper/commit/f831db7d20782192e6537e148ab1ced785894a58 Thank you for your feedback，The current develop branch has fixed this issue. You can pull the latest code for compilation, or wait for our new version to be released