Method depth_to_color

src/registration.cpp:87–106

}

void RegistrationImpl::depth_to_color(float mx, float my, float& rx, float& ry) const
{
  mx = (mx - depth.cx) * depth_q;
  my = (my - depth.cy) * depth_q;

  float wx =
    (mx * mx * mx * color.mx_x3y0) + (my * my * my * color.mx_x0y3) +
    (mx * mx * my * color.mx_x2y1) + (my * my * mx * color.mx_x1y2) +
    (mx * mx * color.mx_x2y0) + (my * my * color.mx_x0y2) + (mx * my * color.mx_x1y1) +
    (mx * color.mx_x1y0) + (my * color.mx_x0y1) + (color.mx_x0y0);

  float wy =
    (mx * mx * mx * color.my_x3y0) + (my * my * my * color.my_x0y3) +
    (mx * mx * my * color.my_x2y1) + (my * my * mx * color.my_x1y2) +
    (mx * mx * color.my_x2y0) + (my * my * color.my_x0y2) + (mx * my * color.my_x1y1) +
    (mx * color.my_x1y0) + (my * color.my_x0y1) + (color.my_x0y0);

  rx = (wx / (color.fx * color_q)) - (color.shift_m / color.shift_d);
  ry = (wy / color_q) + color.cy;
}

void Registration::apply( int dx, int dy, float dz, float& cx, float &cy) const
{