Stores depth data for a Kinect / PrimeSense camera. More...

#include <primesense_depth.hpp>

Inheritance diagram for fovis::PrimeSenseDepth:

Public Member Functions
double	getBaseline () const
uint16_t	getDisparity (int rgb_u, int rgb_v) const
uint16_t	getDisparityAtIRPixel (int ir_u, int ir_v) const
bool	getXyz (int u, int v, Eigen::Vector3d &xyz)
void	getXyz (OdometryFrame *frame)
bool	haveXyz (int u, int v)
	PrimeSenseDepth (const PrimeSenseCalibration *calib)
void	refineXyz (FeatureMatch matches, int num_matches, OdometryFrame frame)
void	setDisparityData (const uint16_t *disparity)
	~PrimeSenseDepth ()
Private Member Functions
bool	getXyzFast (KeypointData *kpdata)
bool	getXyzInterp (KeypointData *kpdata)
bool	haveXyz (float u_f, float v_f)
Private Attributes
const PrimeSenseCalibration *	_calib
uint16_t *	_disparity
uint32_t	_disparity_map_max_index
int	_ir_height
int	_ir_width
uint32_t *	_rgb_to_disparity_map
Eigen::Matrix4d *	_uvd1_d_to_xyz_c

Detailed Description

Stores depth data for a Kinect / PrimeSense camera.

See also:: PrimeSenseCalibrationParameters, PrimeSenseCalibration

Definition at line 192 of file primesense_depth.hpp.

Constructor & Destructor Documentation

fovis::PrimeSenseDepth::PrimeSenseDepth ( const PrimeSenseCalibration * calib )

Definition at line 22 of file primesense_depth.cpp.

fovis::PrimeSenseDepth::~PrimeSenseDepth ( )

Definition at line 42 of file primesense_depth.cpp.

Member Function Documentation

double fovis::PrimeSenseDepth::getBaseline ( ) const [inline, virtual]

Return baseline of depth source, if applicable. If not applicable (e.g. for OpenNI devices) return 0.

Implements fovis::DepthSource.

Definition at line 271 of file primesense_depth.hpp.

uint16_t fovis::PrimeSenseDepth::getDisparity	(	int	rgb_u,
		int	rgb_v
	)		const `[inline]`

Retrieve the disparity value at the IR pixel that projects on to the specified RGB pixel.

Disparity is not measured on the RGB image directly. Instead, it's measured on the IR image, then the points are projected onto the RGB image. This function looks up the IR pixel that projected onto the specified RGB pixel, and then returns the disparity of the IR pixel.

Returns: the measured disparity, or 0 if there is no disparity data for the specified pixel.

Definition at line 252 of file primesense_depth.hpp.

uint16_t fovis::PrimeSenseDepth::getDisparityAtIRPixel	(	int	ir_u,
		int	ir_v
	)		const `[inline]`

Retrieve the disparity value at the specified RGB pixel.

Definition at line 264 of file primesense_depth.hpp.

bool fovis::PrimeSenseDepth::getXyz	(	int	u,
		int	v,
		Eigen::Vector3d &	xyz
	)

Definition at line 161 of file primesense_depth.cpp.

void fovis::PrimeSenseDepth::getXyz ( OdometryFrame * frame ) [virtual]

Populate keypoints in frame with XYZ data.

Implements fovis::DepthSource.

Definition at line 100 of file primesense_depth.cpp.

bool fovis::PrimeSenseDepth::getXyzFast ( KeypointData * kpdata ) [private]

Definition at line 190 of file primesense_depth.cpp.

bool fovis::PrimeSenseDepth::getXyzInterp ( KeypointData * kpdata ) [private]

Definition at line 230 of file primesense_depth.cpp.

bool fovis::PrimeSenseDepth::haveXyz	(	int	u,
		int	v
	)		`[inline, virtual]`

This should return true if it's not certain there's no depth at (u,v). It should be an inexpensive check that is used to avoid pointless (hah!) creation of keypoints. False positives are fine as ling as getXyz gets rid of them.

Implements fovis::DepthSource.

Definition at line 277 of file primesense_depth.hpp.