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allow supplying an external Frame for the depth buffer #317

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Merged
floe merged 1 commit into from
Jul 14, 2015
Merged

allow supplying an external Frame for the depth buffer #317

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2 changes: 1 addition & 1 deletion examples/protonect/include/libfreenect2/registration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ 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) const;
void apply(const Frame* rgb, const Frame* depth, Frame* undistorted, Frame* registered, const bool enable_filter = true, Frame* bigdepth = 0) const;

private:
void distort(int mx, int my, float& dx, float& dy) const;
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6 changes: 3 additions & 3 deletions examples/protonect/src/registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ void Registration::apply( int dx, int dy, float dz, float& cx, float &cy) const
cx = rx * color.fx + color.cx;
}

void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter) const
void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth) const
{
// Check if all frames are valid and have the correct size
if (!rgb || !depth || !undistorted || !registered ||
Expand Down Expand Up @@ -123,7 +123,7 @@ void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorte

// initializing the depth_map with values outside of the Kinect2 range
if(enable_filter){
filter_map = new float[size_filter_map];
filter_map = bigdepth ? (float*)bigdepth->data : new float[size_filter_map];
p_filter_map = filter_map + offset_filter_map;

for(float *it = filter_map, *end = filter_map + size_filter_map; it != end; ++it){
Expand Down Expand Up @@ -210,7 +210,7 @@ void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorte
*registered_data = (z - min_z) / z > filter_tolerance ? 0 : *(rgb_data + c_off);
}

delete[] filter_map;
if (!bigdepth) delete[] filter_map;
}
else
{
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