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

Inheritance diagram for 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)

Detailed Description

Stores depth data for a Kinect / PrimeSense camera.

See also: PrimeSenseCalibrationParameters, PrimeSenseCalibration

Member Function Documentation

void getXyz ( OdometryFrame * frame )

virtual

Populate keypoints in frame with XYZ data.

Implements DepthSource.

void refineXyz	(	FeatureMatch *	matches,
		int	num_matches,
		OdometryFrame *	frame
	)

virtual

Refine XYZ data of target keypoints in matches (usually after subpixel refinement of the matches across time).

Implements DepthSource.

uint16_t 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.

uint16_t getDisparityAtIRPixel	(	int	ir_u,
		int	ir_v
	)		const

inline

Retrieve the disparity value at the specified RGB pixel.

double getBaseline ( ) const

inlinevirtual

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

Implements DepthSource.

bool haveXyz	(	int	u,
		int	v
	)

inlinevirtual

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 DepthSource.

The documentation for this class was generated from the following file:

primesense_depth.hpp

Public Member Functions

Detailed Description

Member Function Documentation