Method RegistrationImpl

src/registration.cpp:370–403

}

RegistrationImpl::RegistrationImpl(Freenect2Device::IrCameraParams depth_p, Freenect2Device::ColorCameraParams rgb_p):
  depth(depth_p), color(rgb_p), filter_width_half(2), filter_height_half(1), filter_tolerance(0.01f)
{
  float mx, my;
  int ix, iy, index;
  float rx, ry;
  int *map_dist = distort_map;
  float *map_x = depth_to_color_map_x;
  float *map_y = depth_to_color_map_y;
  int *map_yi = depth_to_color_map_yi;

  for (int y = 0; y < 424; y++) {
    for (int x = 0; x < 512; x++) {
      // compute the dirstored coordinate for current pixel
      distort(x,y,mx,my);
      // rounding the values and check if the pixel is inside the image
      ix = (int)(mx + 0.5f);
      iy = (int)(my + 0.5f);
      if(ix < 0 || ix >= 512 || iy < 0 || iy >= 424)
        index = -1;
      else
        // computing the index from the coordianted for faster access to the data
        index = iy * 512 + ix;
      *map_dist++ = index;

      // compute the depth to color mapping entries for the current pixel
      depth_to_color(x,y,rx,ry);
      *map_x++ = rx;
      *map_y++ = ry;
      // compute the y offset to minimize later computations
      *map_yi++ = (int)(ry + 0.5f);
    }
  }
}

} /* namespace libfreenect2 */