Registration Class Reference

Combine frames of depth and color camera. More...

#include <libfreenect2/registration.h>

Public Member Functions
	Registration (Freenect2Device::IrCameraParams depth_p, Freenect2Device::ColorCameraParams rgb_p)
	~Registration ()
void	apply (int dx, int dy, float dz, float &cx, float &cy) const
	Undistort and register a single depth point to color camera.
void	apply (const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter=true, Frame *bigdepth=0, int *color_depth_map=0) const
	Map color images onto depth images.
void	undistortDepth (const Frame *depth, Frame *undistorted) const
	Undistort depth.
void	getPointXYZRGB (const Frame *undistorted, const Frame *registered, int r, int c, float &x, float &y, float &z, float &rgb) const
	Construct a 3-D point with color in a point cloud.
void	getPointXYZ (const Frame *undistorted, int r, int c, float &x, float &y, float &z) const
	Construct a 3-D point in a point cloud.

Detailed Description

Combine frames of depth and color camera.

Right now this class uses a reverse engineered formula that uses factory preset extrinsic parameters. We do not have a clear understanding of these particular extrinsic parameters and do not know how to calibrate them by hand.

If you want to perform registration with standard camera extrinsic matrix, you probably need something else.

Constructor & Destructor Documentation

Registration()

Registration	(	Freenect2Device::IrCameraParams	depth_p,
		Freenect2Device::ColorCameraParams	rgb_p )

Parameters

depth_p	Depth camera parameters. You can use the factory values, or use your own.
rgb_p	Color camera parameters. Probably use the factory values for now.

Referenced by getPointXYZ().

~Registration()

~Registration

(

)

Member Function Documentation

apply() [1/2]

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

Undistort and register a single depth point to color camera.

Parameters

	dx	Distorted depth coordinate x (pixel)
	dy	Distorted depth coordinate y (pixel)
	dz	Depth value (millimeter)
[out]	cx	Undistorted color coordinate x (normalized)
[out]	cy	Undistorted color coordinate y (normalized)

apply() [2/2]

void apply	(	const Frame *	rgb,
		const Frame *	depth,
		Frame *	undistorted,
		Frame *	registered,
		const bool	enable_filter = true,
		Frame *	bigdepth = 0,
		int *	color_depth_map = 0 ) const

Map color images onto depth images.

Parameters

	rgb	Color image (1920x1080 BGRX or RGBX)
	depth	Depth image (512x424 float)
[out]	undistorted	Undistorted depth image (512x424 float)
[out]	registered	Color image for the depth image (512x424); its format inherits rgb.
	enable_filter	Filter out pixels not visible to both cameras.
[out]	bigdepth	If not NULL, return mapping of depth onto colors (1920x1082 float). 1082 not 1080, with a blank top and bottom row.
[out]	color_depth_map	Index of mapped color pixel for each depth pixel (512x424).

undistortDepth()

void undistortDepth	(	const Frame *	depth,
		Frame *	undistorted ) const

Undistort depth.

Parameters

	depth	Depth image (512x424 float)
[out]	undistorted	Undistorted depth image

getPointXYZRGB()

void getPointXYZRGB	(	const Frame *	undistorted,
		const Frame *	registered,
		int	r,
		int	c,
		float &	x,
		float &	y,
		float &	z,
		float &	rgb ) const

Construct a 3-D point with color in a point cloud.

Parameters

	undistorted	Undistorted depth frame from apply().
	registered	Registered color frame from apply().
	r	Row (y) index in depth image.
	c	Column (x) index in depth image.
[out]	x	X coordinate of the 3-D point (meter).
[out]	y	Y coordinate of the 3-D point (meter).
[out]	z	Z coordinate of the 3-D point (meter).
[out]	rgb	Packed color of the 3-D point in the registered frame's BGRX or RGBX channel order. To unpack BGRX data, use const uint8_t *p = reinterpret_cast<uint8_t*>(&rgb); uint8_t b = p[0]; uint8_t g = p[1]; uint8_t r = p[2];

getPointXYZ()

void getPointXYZ	(	const Frame *	undistorted,
		int	r,
		int	c,
		float &	x,
		float &	y,
		float &	z ) const

Construct a 3-D point in a point cloud.

Parameters

	undistorted	Undistorted depth frame from apply().
	r	Row (y) index in depth image.
	c	Column (x) index in depth image.
[out]	x	X coordinate of the 3-D point (meter).
[out]	y	Y coordinate of the 3-D point (meter).
[out]	z	Z coordinate of the 3-D point (meter).

References Registration().