Method IrCameraTables

src/libfreenect2.cpp:109–142

  std::vector<short> lut;

  IrCameraTables(const Freenect2Device::IrCameraParams &parent):
    Freenect2Device::IrCameraParams(parent),
    xtable(DepthPacketProcessor::TABLE_SIZE),
    ztable(DepthPacketProcessor::TABLE_SIZE),
    lut(DepthPacketProcessor::LUT_SIZE)
  {
    const double scaling_factor = 8192;
    const double unambigious_dist = 6250.0/3;
    size_t divergence = 0;
    for (size_t i = 0; i < DepthPacketProcessor::TABLE_SIZE; i++)
    {
      size_t xi = i % 512;
      size_t yi = i / 512;
      double xd = (xi + 0.5 - cx)/fx;
      double yd = (yi + 0.5 - cy)/fy;
      double xu, yu;
      divergence += !undistort(xd, yd, xu, yu);
      xtable[i] = scaling_factor*xu;
      ztable[i] = unambigious_dist/sqrt(xu*xu + yu*yu + 1);
    }

    if (divergence > 0)
      LOG_ERROR << divergence << " pixels in x/ztable have incorrect undistortion.";

    short y = 0;
    for (int x = 0; x < 1024; x++)
    {
      unsigned inc = 1 << (x/128 - (x>=128));
      lut[x] = y;
      lut[1024 + x] = -y;
      y += inc;
    }
    lut[1024] = 32767;
  }

  //x,y: undistorted, normalized coordinates
  //xd,yd: distorted, normalized coordinates