org.bytedeco.javacpp

Class freenect2.Registration

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.javacpp.freenect2.Registration

All Implemented Interfaces:

AutoCloseable

Enclosing class:

freenect2

@Namespace(value="libfreenect2")
@NoOffset
public static class freenect2.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

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
freenect2.Registration(freenect2.Freenect2Device.IrCameraParams depth_p, freenect2.Freenect2Device.ColorCameraParams rgb_p)
freenect2.Registration(Pointer p) Pointer cast constructor.

Method Summary

Methods

Modifier and Type	Method and Description
void	apply(freenect2.Frame rgb, freenect2.Frame depth, freenect2.Frame undistorted, freenect2.Frame registered)
void	apply(freenect2.Frame rgb, freenect2.Frame depth, freenect2.Frame undistorted, freenect2.Frame registered, boolean enable_filter, freenect2.Frame bigdepth, int[] color_depth_map)
void	apply(freenect2.Frame rgb, freenect2.Frame depth, freenect2.Frame undistorted, freenect2.Frame registered, boolean enable_filter, freenect2.Frame bigdepth, IntBuffer color_depth_map)
void	apply(freenect2.Frame rgb, freenect2.Frame depth, freenect2.Frame undistorted, freenect2.Frame registered, boolean enable_filter, freenect2.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(freenect2.Frame undistorted, int r, int c, float[] x, float[] y, float[] z)
void	getPointXYZ(freenect2.Frame undistorted, int r, int c, FloatBuffer x, FloatBuffer y, FloatBuffer z)
void	getPointXYZ(freenect2.Frame undistorted, int r, int c, FloatPointer x, FloatPointer y, FloatPointer z) Construct a 3-D point in a point cloud.
void	getPointXYZRGB(freenect2.Frame undistorted, freenect2.Frame registered, int r, int c, float[] x, float[] y, float[] z, float[] rgb)
void	getPointXYZRGB(freenect2.Frame undistorted, freenect2.Frame registered, int r, int c, FloatBuffer x, FloatBuffer y, FloatBuffer z, FloatBuffer rgb)
void	getPointXYZRGB(freenect2.Frame undistorted, freenect2.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(freenect2.Frame depth, freenect2.Frame undistorted) Undistort depth

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, free, hashCode, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetof, physicalBytes, position, position, put, realloc, setNull, sizeof, toString, totalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

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

Constructor Detail

freenect2.Registration

public freenect2.Registration(Pointer p)

Pointer cast constructor. Invokes Pointer.Pointer(Pointer).

freenect2.Registration

public freenect2.Registration(@ByVal
                      freenect2.Freenect2Device.IrCameraParams depth_p,
                      @ByVal
                      freenect2.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)

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

[out] - cy 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
         freenect2.Frame rgb,
         @Const
         freenect2.Frame depth,
         freenect2.Frame undistorted,
         freenect2.Frame registered,
         @Cast(value="const bool")
         boolean enable_filter,
         freenect2.Frame bigdepth,
         IntPointer color_depth_map)

Map color images onto depth images

Parameters:

rgb - Color image (1920x1080 BGRX)

depth - Depth image (512x424 float)

[out] - undistorted Undistorted depth image

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

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).

apply

public void apply(@Const
         freenect2.Frame rgb,
         @Const
         freenect2.Frame depth,
         freenect2.Frame undistorted,
         freenect2.Frame registered)

apply

public void apply(@Const
         freenect2.Frame rgb,
         @Const
         freenect2.Frame depth,
         freenect2.Frame undistorted,
         freenect2.Frame registered,
         @Cast(value="const bool")
         boolean enable_filter,
         freenect2.Frame bigdepth,
         IntBuffer color_depth_map)

apply

public void apply(@Const
         freenect2.Frame rgb,
         @Const
         freenect2.Frame depth,
         freenect2.Frame undistorted,
         freenect2.Frame registered,
         @Cast(value="const bool")
         boolean enable_filter,
         freenect2.Frame bigdepth,
         int[] color_depth_map)

undistortDepth

public void undistortDepth(@Const
                  freenect2.Frame depth,
                  freenect2.Frame undistorted)

Undistort depth

Parameters:

depth - Depth image (512x424 float)

[out] - undistorted Undistorted depth image

getPointXYZRGB

public void getPointXYZRGB(@Const
                  freenect2.Frame undistorted,
                  @Const
                  freenect2.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.

[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 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
                  freenect2.Frame undistorted,
                  @Const
                  freenect2.Frame registered,
                  int r,
                  int c,
                  @ByRef
                  FloatBuffer x,
                  @ByRef
                  FloatBuffer y,
                  @ByRef
                  FloatBuffer z,
                  @ByRef
                  FloatBuffer rgb)

getPointXYZRGB

public void getPointXYZRGB(@Const
                  freenect2.Frame undistorted,
                  @Const
                  freenect2.Frame registered,
                  int r,
                  int c,
                  @ByRef
                  float[] x,
                  @ByRef
                  float[] y,
                  @ByRef
                  float[] z,
                  @ByRef
                  float[] rgb)

getPointXYZ

public void getPointXYZ(@Const
               freenect2.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.

[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).

getPointXYZ

public void getPointXYZ(@Const
               freenect2.Frame undistorted,
               int r,
               int c,
               @ByRef
               FloatBuffer x,
               @ByRef
               FloatBuffer y,
               @ByRef
               FloatBuffer z)

getPointXYZ

public void getPointXYZ(@Const
               freenect2.Frame undistorted,
               int r,
               int c,
               @ByRef
               float[] x,
               @ByRef
               float[] y,
               @ByRef
               float[] z)