depth_registration_cpu.h

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#pragma once
#ifndef __DEPTH_REGISTRATION_CPU_H__
#define __DEPTH_REGISTRATION_CPU_H__

#include <Eigen/Geometry>

#include <kinect2_registration/kinect2_registration.h>

class DepthRegistrationCPU : public DepthRegistration
{
private:
  cv::Mat lookupX, lookupY;
  Eigen::Matrix4d proj;
  double fx, fy, cx, cy;

public:
  DepthRegistrationCPU();

  ~DepthRegistrationCPU();

  bool init(const int deviceId);

  bool registerDepth(const cv::Mat &depth, cv::Mat &registered);

private:
  void createLookup();

  uint16_t interpolate(const cv::Mat &in, const float &x, const float &y) const;

  void remapDepth(const cv::Mat &depth, cv::Mat &scaled) const;
  void projectDepth(const cv::Mat &scaled, cv::Mat &registered) const;
};

#endif //__DEPTH_REGISTRATION_CPU_H__