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[REBASE] Adds RGB -> depth mapping #395

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Dec 2, 2014
Merged

[REBASE] Adds RGB -> depth mapping #395

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a55cd43
add freenect_map_rgb_to_depth helper function (untested)
floe Oct 10, 2013
be35d02
clear rgb pixels without depth data for map_rgb_to_depth
floe Oct 10, 2013
9069ddf
Adds zbuffer to the mapping of rgb to depth
fran6co Jun 9, 2014
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5 changes: 5 additions & 0 deletions include/libfreenect_registration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -120,6 +120,11 @@ FREENECTAPI int freenect_destroy_registration(freenect_registration* reg);
FREENECTAPI void freenect_camera_to_world(freenect_device* dev,
int cx, int cy, int wz, double* wx, double* wy);

// helper function to map one FREENECT_VIDEO_RGB image to a FREENECT_DEPTH_MM
// image (inverse mapping to FREENECT_DEPTH_REGISTERED, which is depth -> RGB)
FREENECTAPI void freenect_map_rgb_to_depth( freenect_device* dev,
uint16_t* depth_mm, uint8_t* rgb_raw, uint8_t* rgb_registered );

#ifdef __cplusplus
}
#endif
67 changes: 67 additions & 0 deletions src/registration.c
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Expand Up @@ -329,6 +329,73 @@ void freenect_camera_to_world(freenect_device* dev, int cx, int cy, int wz, doub
*wy = (double)(cy - DEPTH_Y_RES/2) * factor;
}

/// RGB -> depth mapping function (inverse of default FREENECT_DEPTH_REGISTERED mapping)
void freenect_map_rgb_to_depth(freenect_device* dev, uint16_t* depth_mm, uint8_t* rgb_raw, uint8_t* rgb_registered)
{
uint32_t target_offset = dev->registration.reg_pad_info.start_lines * DEPTH_Y_RES;
int x,y;
int* map = (int*)malloc(DEPTH_Y_RES*DEPTH_X_RES* sizeof(int));
unsigned short* zBuffer = (unsigned short*)malloc(DEPTH_Y_RES*DEPTH_X_RES* sizeof(unsigned short));
memset(zBuffer, DEPTH_NO_MM_VALUE, DEPTH_X_RES*DEPTH_Y_RES * sizeof(unsigned short));

for (y = 0; y < DEPTH_Y_RES; y++) for (x = 0; x < DEPTH_X_RES; x++) {
uint32_t index = y * DEPTH_X_RES + x;
uint32_t cx,cy,cindex;

map[index] = -1;

int wz = depth_mm[index];

if (wz == DEPTH_NO_MM_VALUE) {
continue;
}

// coordinates in rgb image corresponding to x,y in depth image
cx = (dev->registration.registration_table[index][0] + dev->registration.depth_to_rgb_shift[wz]) / REG_X_VAL_SCALE;
cy = dev->registration.registration_table[index][1] - target_offset;

if (cx >= DEPTH_X_RES) continue;

cindex = cy*DEPTH_X_RES+cx;
map[index] = cindex;

if (zBuffer[cindex] == DEPTH_NO_MM_VALUE || zBuffer[cindex] > wz) {
zBuffer[cindex] = wz;
}
}

for (y = 0; y < DEPTH_Y_RES; y++) for (x = 0; x < DEPTH_X_RES; x++) {
uint32_t index = y * DEPTH_X_RES + x;
uint32_t cindex = map[index];

// pixels without depth data or out of bounds are black
if (cindex == -1) {
index *= 3;
rgb_registered[index+0] = 0;
rgb_registered[index+1] = 0;
rgb_registered[index+2] = 0;

continue;
}

unsigned short currentDepth = depth_mm[index];
unsigned short minDepth = zBuffer[cindex];

// filters out pixels that are occluded
if (currentDepth <= minDepth) {
index *= 3;
cindex *= 3;

rgb_registered[index+0] = rgb_raw[cindex+0];
rgb_registered[index+1] = rgb_raw[cindex+1];
rgb_registered[index+2] = rgb_raw[cindex+2];
}
}

free(zBuffer);
free(map);
}

/// Allocate and fill registration tables
/// This function should be called every time a new video (not depth!) mode is
/// activated.
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