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add freenect_map_rgb_to_depth helper function #284

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add freenect_map_rgb_to_depth helper function #284

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99a359a
add freenect_map_rgb_to_depth helper function (untested)
floe Mar 30, 2012
770a3d3
Merge remote-tracking branch 'remotes/upstream/unstable' into upstrea…
floe Mar 30, 2012
fb9ee88
clear rgb pixels without depth data for map_rgb_to_depth
floe Mar 30, 2012
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clear rgb pixels without depth data for map_rgb_to_depth
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@floe
floe committed Mar 30, 2012
commit fb9ee88d3574a9c835a602811b124bdbbe582579
12 changes: 10 additions & 2 deletions src/registration.c
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Expand Up @@ -341,9 +341,17 @@ void freenect_map_rgb_to_depth(freenect_device* dev, uint16_t* depth_mm, uint8_t
uint32_t cx,cy,cindex;

int wz = depth_mm[index];
//if (wz == 0) continue;

// coordinates in rgb image corresponding to x,y
// pixels without depth data are black
if (wz == 0) {
index = index*3;
rgb_registered[index+0] = 0;
rgb_registered[index+1] = 0;
rgb_registered[index+2] = 0;
continue;
}

// coordinates in rgb image corresponding to x,y in depth image
cx = (dev->registration.registration_table[index][0] + dev->registration.depth_to_rgb_shift[wz]) / REG_X_VAL_SCALE;
cy = dev->registration.registration_table[index][1];

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