public static InitSenderPacketData Parse(byte[] packetBytes)
{
var reader = new BinaryReader(new MemoryStream(packetBytes));
reader.BaseStream.Position = 5;
var initSenderPacketData = new InitSenderPacketData();
initSenderPacketData.depthWidth = reader.ReadInt32();
initSenderPacketData.depthHeight = reader.ReadInt32();
var depthIntrinsics = new AzureKinectCalibration.Intrinsics();
depthIntrinsics.cx = reader.ReadSingle();
depthIntrinsics.cy = reader.ReadSingle();
depthIntrinsics.fx = reader.ReadSingle();
depthIntrinsics.fy = reader.ReadSingle();
depthIntrinsics.k1 = reader.ReadSingle();
depthIntrinsics.k2 = reader.ReadSingle();
depthIntrinsics.k3 = reader.ReadSingle();
depthIntrinsics.k4 = reader.ReadSingle();
depthIntrinsics.k5 = reader.ReadSingle();
depthIntrinsics.k6 = reader.ReadSingle();
depthIntrinsics.codx = reader.ReadSingle();
depthIntrinsics.cody = reader.ReadSingle();
depthIntrinsics.p2 = reader.ReadSingle();
depthIntrinsics.p1 = reader.ReadSingle();
depthIntrinsics.metricRadius = reader.ReadSingle();
initSenderPacketData.depthIntrinsics = depthIntrinsics;
initSenderPacketData.depthMetricRadius = reader.ReadSingle();
return(initSenderPacketData);
}
public static AzureKinectCalibration ReadAzureKinectCalibrationFromMessage(byte[] message, int cursor)
{
int colorWidth = BitConverter.ToInt32(message, cursor);
cursor += 4;
int colorHeight = BitConverter.ToInt32(message, cursor);
cursor += 4;
int depthWidth = BitConverter.ToInt32(message, cursor);
cursor += 4;
int depthHeight = BitConverter.ToInt32(message, cursor);
cursor += 4;
AzureKinectCalibration.Intrinsics colorIntrinsics;
{
float cx = BitConverter.ToSingle(message, cursor);
cursor += 4;
float cy = BitConverter.ToSingle(message, cursor);
cursor += 4;
float fx = BitConverter.ToSingle(message, cursor);
cursor += 4;
float fy = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k1 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k2 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k3 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k4 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k5 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k6 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float codx = BitConverter.ToSingle(message, cursor);
cursor += 4;
float cody = BitConverter.ToSingle(message, cursor);
cursor += 4;
float p2 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float p1 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float metricRadius = BitConverter.ToSingle(message, cursor);
cursor += 4;
colorIntrinsics = new AzureKinectCalibration.Intrinsics(cx: cx,
cy: cy,
fx: fx,
fy: fy,
k1: k1,
k2: k2,
k3: k3,
k4: k4,
k5: k5,
k6: k6,
codx: codx,
cody: cody,
p2: p2,
p1: p1,
metricRadius: metricRadius);
}
float colorMetricRadius = BitConverter.ToSingle(message, cursor);
cursor += 4;
AzureKinectCalibration.Intrinsics depthIntrinsics;
{
float cx = BitConverter.ToSingle(message, cursor);
cursor += 4;
float cy = BitConverter.ToSingle(message, cursor);
cursor += 4;
float fx = BitConverter.ToSingle(message, cursor);
cursor += 4;
float fy = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k1 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k2 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k3 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k4 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k5 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float k6 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float codx = BitConverter.ToSingle(message, cursor);
cursor += 4;
float cody = BitConverter.ToSingle(message, cursor);
cursor += 4;
float p2 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float p1 = BitConverter.ToSingle(message, cursor);
cursor += 4;
float metricRadius = BitConverter.ToSingle(message, cursor);
cursor += 4;
depthIntrinsics = new AzureKinectCalibration.Intrinsics(cx: cx,
cy: cy,
fx: fx,
fy: fy,
k1: k1,
k2: k2,
k3: k3,
k4: k4,
k5: k5,
k6: k6,
codx: codx,
cody: cody,
p2: p2,
p1: p1,
metricRadius: metricRadius);
}
float depthMetricRadius = BitConverter.ToSingle(message, cursor);
cursor += 4;
AzureKinectCalibration.Extrinsics depthToColorExtrinsics;
{
float[] rotation = new float[9];
for (int i = 0; i < 9; ++i)
{
rotation[i] = BitConverter.ToSingle(message, cursor);
cursor += 4;
}
float[] translation = new float[3];
for (int i = 0; i < 3; ++i)
{
translation[i] = BitConverter.ToSingle(message, cursor);
cursor += 4;
}
depthToColorExtrinsics = new AzureKinectCalibration.Extrinsics(rotation, translation);
}
var depthCamera = new AzureKinectCalibration.Camera(depthIntrinsics, depthWidth, depthHeight, depthMetricRadius);
var colorCamera = new AzureKinectCalibration.Camera(colorIntrinsics, colorWidth, colorHeight, colorMetricRadius);
return(new AzureKinectCalibration(depthCamera: depthCamera,
colorCamera: colorCamera,
depthToColorExtrinsics: depthToColorExtrinsics));
}
