org.bytedeco.libfreenect2

Class Registration

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.libfreenect2.Registration

All Implemented Interfaces:

AutoCloseable

@Namespace(value="libfreenect2")
 @NoOffset
 @Properties(inherit=freenect2.class)
public class Registration
extends Pointer

Combine frames of depth and color camera. \ingroup registration 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.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
Registration(Freenect2Device.IrCameraParams depth_p, Freenect2Device.ColorCameraParams rgb_p)
Registration(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	apply(Frame rgb, Frame depth, Frame undistorted, Frame registered)
void	apply(Frame rgb, Frame depth, Frame undistorted, Frame registered, boolean enable_filter, Frame bigdepth, int[] color_depth_map)
void	apply(Frame rgb, Frame depth, Frame undistorted, Frame registered, boolean enable_filter, Frame bigdepth, IntBuffer color_depth_map)
void	apply(Frame rgb, Frame depth, Frame undistorted, Frame registered, boolean enable_filter, Frame bigdepth, IntPointer color_depth_map) Map color images onto depth images
void	apply(int dx, int dy, float dz, float[] cx, float[] cy)
void	apply(int dx, int dy, float dz, FloatBuffer cx, FloatBuffer cy)
void	apply(int dx, int dy, float dz, FloatPointer cx, FloatPointer cy) Undistort and register a single depth point to color camera.
void	getPointXYZ(Frame undistorted, int r, int c, float[] x, float[] y, float[] z)
void	getPointXYZ(Frame undistorted, int r, int c, FloatBuffer x, FloatBuffer y, FloatBuffer z)
void	getPointXYZ(Frame undistorted, int r, int c, FloatPointer x, FloatPointer y, FloatPointer z) Construct a 3-D point in a point cloud.
void	getPointXYZRGB(Frame undistorted, Frame registered, int r, int c, float[] x, float[] y, float[] z, float[] rgb)
void	getPointXYZRGB(Frame undistorted, Frame registered, int r, int c, FloatBuffer x, FloatBuffer y, FloatBuffer z, FloatBuffer rgb)
void	getPointXYZRGB(Frame undistorted, Frame registered, int r, int c, FloatPointer x, FloatPointer y, FloatPointer z, FloatPointer rgb) Construct a 3-D point with color in a point cloud.
void	undistortDepth(Frame depth, Frame undistorted) Undistort depth

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

Registration

public Registration(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Registration

public Registration(@ByVal
                    Freenect2Device.IrCameraParams depth_p,
                    @ByVal
                    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.

Method Detail

apply

public void apply(int dx,
                  int dy,
                  float dz,
                  @ByRef
                  FloatPointer cx,
                  @ByRef
                  FloatPointer cy)

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)

cx - [out] Undistorted color coordinate x (normalized)

cy - [out] Undistorted color coordinate y (normalized)

apply

public void apply(int dx,
                  int dy,
                  float dz,
                  @ByRef
                  FloatBuffer cx,
                  @ByRef
                  FloatBuffer cy)

apply

public void apply(int dx,
                  int dy,
                  float dz,
                  @ByRef
                  float[] cx,
                  @ByRef
                  float[] cy)

apply

public void apply(@Const
                  Frame rgb,
                  @Const
                  Frame depth,
                  Frame undistorted,
                  Frame registered,
                  @Cast(value="const bool")
                  boolean enable_filter,
                  Frame bigdepth,
                  IntPointer color_depth_map)

Map color images onto depth images

Parameters:

rgb - Color image (1920x1080 BGRX)

depth - Depth image (512x424 float)

undistorted - [out] Undistorted depth image

registered - [out] Color image for the depth image (512x424)

enable_filter - Filter out pixels not visible to both cameras.

bigdepth - [out] If not NULL, return mapping of depth onto colors (1920x1082 float). **1082** not 1080, with a blank top and bottom row.

color_depth_map - [out] Index of mapped color pixel for each depth pixel (512x424).

apply

public void apply(@Const
                  Frame rgb,
                  @Const
                  Frame depth,
                  Frame undistorted,
                  Frame registered)

apply

public void apply(@Const
                  Frame rgb,
                  @Const
                  Frame depth,
                  Frame undistorted,
                  Frame registered,
                  @Cast(value="const bool")
                  boolean enable_filter,
                  Frame bigdepth,
                  IntBuffer color_depth_map)

apply

public void apply(@Const
                  Frame rgb,
                  @Const
                  Frame depth,
                  Frame undistorted,
                  Frame registered,
                  @Cast(value="const bool")
                  boolean enable_filter,
                  Frame bigdepth,
                  int[] color_depth_map)

undistortDepth

public void undistortDepth(@Const
                           Frame depth,
                           Frame undistorted)

Undistort depth

Parameters:

depth - Depth image (512x424 float)

undistorted - [out] Undistorted depth image

getPointXYZRGB

public void getPointXYZRGB(@Const
                           Frame undistorted,
                           @Const
                           Frame registered,
                           int r,
                           int c,
                           @ByRef
                           FloatPointer x,
                           @ByRef
                           FloatPointer y,
                           @ByRef
                           FloatPointer z,
                           @ByRef
                           FloatPointer rgb)

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.

x - [out] X coordinate of the 3-D point (meter).

y - [out] Y coordinate of the 3-D point (meter).

z - [out] Z coordinate of the 3-D point (meter).

rgb - [out] Color of the 3-D point (BGRX). To unpack the data, use const uint8_t *p = reinterpret_cast(&rgb); uint8_t b = p[0]; uint8_t g = p[1]; uint8_t r = p[2];

getPointXYZRGB

public void getPointXYZRGB(@Const
                           Frame undistorted,
                           @Const
                           Frame registered,
                           int r,
                           int c,
                           @ByRef
                           FloatBuffer x,
                           @ByRef
                           FloatBuffer y,
                           @ByRef
                           FloatBuffer z,
                           @ByRef
                           FloatBuffer rgb)

getPointXYZRGB

public void getPointXYZRGB(@Const
                           Frame undistorted,
                           @Const
                           Frame registered,
                           int r,
                           int c,
                           @ByRef
                           float[] x,
                           @ByRef
                           float[] y,
                           @ByRef
                           float[] z,
                           @ByRef
                           float[] rgb)

getPointXYZ

public void getPointXYZ(@Const
                        Frame undistorted,
                        int r,
                        int c,
                        @ByRef
                        FloatPointer x,
                        @ByRef
                        FloatPointer y,
                        @ByRef
                        FloatPointer z)

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.

x - [out] X coordinate of the 3-D point (meter).

y - [out] Y coordinate of the 3-D point (meter).

z - [out] Z coordinate of the 3-D point (meter).

getPointXYZ

public void getPointXYZ(@Const
                        Frame undistorted,
                        int r,
                        int c,
                        @ByRef
                        FloatBuffer x,
                        @ByRef
                        FloatBuffer y,
                        @ByRef
                        FloatBuffer z)

getPointXYZ

public void getPointXYZ(@Const
                        Frame undistorted,
                        int r,
                        int c,
                        @ByRef
                        float[] x,
                        @ByRef
                        float[] y,
                        @ByRef
                        float[] z)