kinect2_registration.h

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#pragma once
#ifndef __KINECT2_REGISTRATION_H__
#define __KINECT2_REGISTRATION_H__

#include <vector>

#include <opencv2/opencv.hpp>

class DepthRegistration
{
public:
  enum Method
  {
    DEFAULT = 0,
    CPU,
    OPENCL
  };

protected:
  cv::Mat cameraMatrixRegistered, cameraMatrixDepth, rotation, translation, mapX, mapY;
  cv::Size sizeRegistered, sizeDepth;
  float zNear, zFar;

  DepthRegistration();

  virtual bool init(const int deviceId) = 0;

public:
  virtual ~DepthRegistration();

  bool init(const cv::Mat &cameraMatrixRegistered, const cv::Size &sizeRegistered, const cv::Mat &cameraMatrixDepth, const cv::Size &sizeDepth,
            const cv::Mat &distortionDepth, const cv::Mat &rotation, const cv::Mat &translation,
            const float zNear = 0.5f, const float zFar = 12.0f, const int deviceId = -1);

  virtual bool registerDepth(const cv::Mat &depth, cv::Mat &registered) = 0;

  static DepthRegistration *New(Method method = DEFAULT);
};

#endif //__KINECT2_REGISTRATION_H__