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makes the map for storing the color offset for each depth pixel a function parameter in order to make the user decide the allocation policy #441

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Merged
floe merged 3 commits into from
Nov 27, 2015
Merged

makes the map for storing the color offset for each depth pixel a function parameter in order to make the user decide the allocation policy #441

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6bf7b8e
makes the map for storing the color offset for each depth pixel a fun…
Oct 22, 2015
67a88e9
fixes memory deallocation
Oct 22, 2015
020088e
fixes wrong function parameter comment
Oct 22, 2015
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2 changes: 1 addition & 1 deletion include/libfreenect2/registration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ class LIBFREENECT2_API Registration
void apply(int dx, int dy, float dz, float& cx, float &cy) const;

// undistort/register a whole image
void apply(const Frame* rgb, const Frame* depth, Frame* undistorted, Frame* registered, const bool enable_filter = true, Frame* bigdepth = 0) const;
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;

// compute point XYZ RGB from undistored and registered frames
void getPointXYZRGB (const Frame* undistorted, const Frame* registered, int r, int c, float& x, float& y, float& z, float& rgb) const;
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7 changes: 4 additions & 3 deletions src/registration.cpp
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Expand Up @@ -100,9 +100,10 @@ void Registration::apply( int dx, int dy, float dz, float& cx, float &cy) const
* @param [out] registered Image color image for the depth data (512x424).
* @param enable_filter Use a depth buffer to remove pixels which are not visible to both cameras.
* @param [out] bigdepth If not \c NULL, mapping of depth onto colors (1920x1082 'float' frame).
* @param [out] color_depth_map If not \c NULL, map (512x424) for storing the color offset for each depth pixel.
* @note The \a bigdepth frame has a blank top and bottom row.
*/
void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth) const
void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth, int *color_depth_map) const
{
// Check if all frames are valid and have the correct size
if (!rgb || !depth || !undistorted || !registered ||
Expand Down Expand Up @@ -136,7 +137,7 @@ void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorte
float *p_filter_map = NULL;

// map for storing the color offset for each depth pixel
int *depth_to_c_off = new int[size_depth];
int *depth_to_c_off = color_depth_map ? color_depth_map : new int[size_depth];
int *map_c_off = depth_to_c_off;

// initializing the depth_map with values outside of the Kinect2 range
Expand Down Expand Up @@ -247,7 +248,7 @@ void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorte
*registered_data = c_off < 0 ? 0 : *(rgb_data + c_off);
}
}
delete[] depth_to_c_off;
if (!color_depth_map) delete[] depth_to_c_off;
}

/**
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