1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
|
/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
#ifndef _XN_REGISTRATION_H_
#define _XN_REGISTRATION_H_
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnDeviceSensor.h"
#define XN_REG_PARAB_COEFF 4
#define XN_REG_X_SCALE 16
class XnSensorDepthStream; // Forward Declaration
class XnRegistration
{
public:
XnRegistration();
~XnRegistration() { Free(); }
XnStatus Init(XnDevicePrivateData* pDevicePrivateData, XnSensorDepthStream* pDepthStream, XnUInt16* pDepthToShiftTable);
XnStatus Free();
void Apply(XnDepthPixel* pDM);
inline XnBool IsInitialized() { return m_bInitialized; }
private:
XnStatus BuildRegTable();
XnStatus BuildRegTable1000();
XnStatus BuildRegTable1080();
void Apply1000(XnDepthPixel* pInput, XnDepthPixel* pOutput);
void Apply1080(XnDepthPixel* pInput, XnDepthPixel* pOutput);
XnBool m_bInitialized;
XnDevicePrivateData* m_pDevicePrivateData;
XnSensorDepthStream* m_pDepthStream;
XnUInt16* m_pDepthToShiftTable;
XnBool m_bD2SAlloc;
XnUInt16* m_pRegistrationTable;
XnRegistrationPaddingInformation m_padInfo;
XnDepthPixel* m_pTempBuffer;
XnDouble m_dShiftFactor;
XnBool m_b1000;
};
#endif //_XN_RGBREG_H_
|
