Raw Kinect Depth Camera to process raw depth images from libfreenect. More...

Inheritance diagram for KinectRawDepthCam:

Collaboration diagram for KinectRawDepthCam:

Public Member Functions
vector3f	depthValueTo3D (int row, int col, void *depthValue)
	Convert depth value from provided row and column to a 3D point.

float	rawDepthToMetricDepth (void *depthValue)
	Convert raw Depth value to a Metric value.

vector3f	depthPixelTo3D (int row, int col, void *depthImage)
	Convert pixel specified by (row,col) from provided depth image to a 3D point, and return that 3D point.

vector3f	depthPixelTo3D (int ind, void *depthImage)
	Convert pixel specified by index ind from provided depth image to a 3D point, and return that 3D point.

bool	isValidDepth (int row, int col, void *depthImage)
	Returns true if pixel specified by (row,col) has a valid depth value in the provided depth image.

bool	isValidDepth (int ind, void *depthImage)
	Returns true if pixel specified by index ind has a valid depth value in the provided depth image.

void	initDepthReconstructionLookups ()
	Generate lookup tables for 3D reconstruction.

Public Attributes
float	a
	'a' parameter for conversion of raw depth (d) to metric depth (z) as: z = 1.0/(a+b*d)

float	b
	'b' parameter for conversion of raw depth (d) to metric depth (z) as: z = 1.0/(a+b*d)

uint16_t	maxDepthVal
	Maximum valid depth value.

float	depthLookups [65536]
	Lookup table to convert from raw depth (11 bit int) to metric depth (float)

vector< vector3f >	pointCloudLookups
	Lookup table for unit vectors for each pixel in the depth image, normalized to unit depth.

Public Attributes inherited from DepthCam
float	fovH

float	fovV

int	width

int	height

float	minDepth

float	maxDepth

float	f
	focal point

Detailed Description

Raw Kinect Depth Camera to process raw depth images from libfreenect.

Definition at line 68 of file plane_filtering.h.

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

Public Member Functions