ProjectiveRegistration Class Reference

Conventional extrinsic/projective depth registration. More...

#include <libfreenect2/projective_registration.h>

Public Member Functions
	~ProjectiveRegistration ()
const ProjectiveCameraModel &	targetCamera () const
const ProjectiveRegistrationOptions &	options () const
bool	apply (const Frame &depth, Frame &registered_depth, std::string *error=nullptr) const
	Register decoded float depth into a preallocated float target frame.

Static Public Member Functions
static std::unique_ptr< ProjectiveRegistration >	create (const CalibrationProfile &profile, const ProjectiveCameraModel &target, const ProjectiveRegistrationOptions &options=ProjectiveRegistrationOptions(), std::string *error=nullptr)

Detailed Description

Conventional extrinsic/projective depth registration.

Unlike Registration, this class consumes ordinary camera matrices and a rigid depth-to-color transform. The factory-calibrated polynomial mapping remains available through Registration.

Constructor & Destructor Documentation

~ProjectiveRegistration()

~ProjectiveRegistration

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Member Function Documentation

create()

std::unique_ptr< ProjectiveRegistration > create ( const CalibrationProfile & profile, const ProjectiveCameraModel & target, const ProjectiveRegistrationOptions & options = ProjectiveRegistrationOptions(), std::string * error = nullptr )

static

References options().

targetCamera()

const ProjectiveCameraModel & targetCamera

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const

options()

const ProjectiveRegistrationOptions & options

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const

Referenced by create().

apply()

bool apply	(	const Frame &	depth,
		Frame &	registered_depth,
		std::string *	error = nullptr ) const

Register decoded float depth into a preallocated float target frame.

Output pixels contain target-camera Z in millimeters. Missing pixels are zero. Calls are thread-safe when the caller supplies distinct outputs. Each calling thread reuses scratch buffers sized to the target raster, so steady-state use performs no per-frame allocation; retained capacity is bounded, and targets much larger than the Kinect color raster release their scratch after each call instead.