Skip to content

Offline register signed #305

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 14 commits into
base: master
Choose a base branch
from
Open

Offline register signed #305

Changes from 1 commit
Commits
Show all changes
14 commits
Select commit Hold shift + click to select a range
e8fd62c
offline registration
mankoff Apr 10, 2012
b5ae7f1
Build and install offline registration
mankoff Apr 10, 2012
355c600
Less Verbose. Better filenames
mankoff Apr 12, 2012
f7123cd
depth registration without shifting to RGB coordinates
mankoff Apr 15, 2012
cbea3ca
RGB mapped onto depth
mankoff Apr 15, 2012
d17657c
write out RGB to XYZ file
mankoff Apr 15, 2012
9a67ae8
Removed unused code. Improved usage()
mankoff Apr 16, 2012
34a6345
Don't write raw data 2nd time '.d.pgm'
mankoff Apr 17, 2012
4815723
Pulled in changes from upstream (OpenKniect)/unstable
mankoff Jun 12, 2012
b9c4aee
xyz ASCII file is now PLY format
mankoff Aug 25, 2012
cf0f510
DOI
mankoff Oct 2, 2012
639dd17
DOI in PLY
mankoff Oct 2, 2012
9c0ba08
Merge remote-tracking branch 'OpenKinect/master'
mankoff Oct 2, 2012
f7d20e9
Merge branch 'offline_register' into 'offline_register_signed' so tha…
mankoff Oct 2, 2012
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
write out RGB to XYZ file
  • Loading branch information
@mankoff
mankoff committed Apr 15, 2012
commit d17657cf59bd58e51fcee31bca7dc570e11b743e
16 changes: 13 additions & 3 deletions examples/kinect_register.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -371,8 +371,10 @@ void apply_registration(char* regfile, char* PGMfile, char* PPMfile)
/* Convert DN to world */
// first, convert the DN to worldz

freenect_map_rgb_to_depth(&reg, wz, data_ppm, data_ppm_reg);
write_PPM(PPMfile, data_ppm_reg);
if (PPMfile != 0) {
freenect_map_rgb_to_depth(&reg, wz, data_ppm, data_ppm_reg);
write_PPM(PPMfile, data_ppm_reg);
}

// see freenect_camera_to_world() in registration.c
double ref_pix_size = reg.zero_plane_info.reference_pixel_size;
Expand Down Expand Up @@ -414,7 +416,15 @@ void apply_registration(char* regfile, char* PGMfile, char* PPMfile)
if (wz[i] == 0)
continue;

fprintf(fp, "%d %d %d\n", (int16_t)wx[i], (int16_t)wy[i], wz[i]);
fprintf(fp, "%d %d %d", (int16_t)wx[i], (int16_t)wy[i], wz[i]);
if (PPMfile != 0) {
int ii = i*3;
fprintf( fp, " %d %d %d",
(uint8_t)data_ppm_reg[ii],
(uint8_t)data_ppm_reg[ii+1],
(uint8_t)data_ppm_reg[ii+2]);
}
fprintf(fp, "\n");
}
fclose(fp);
//printf("Wrote xyz file\n");
Expand Down