/****************************************************************************

* *

* PrimeSense Sensor 5.x Alpha *

* Copyright (C) 2011 PrimeSense Ltd. *

* *

* This file is part of PrimeSense Sensor. *

* *

* PrimeSense Sensor is free software: you can redistribute it and/or modify*

* it under the terms of the GNU Lesser General Public License as published *

* by the Free Software Foundation, either version 3 of the License, or *

* (at your option) any later version. *

* *

* PrimeSense Sensor is distributed in the hope that it will be useful, *

* but WITHOUT ANY WARRANTY; without even the implied warranty of *

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *

* GNU Lesser General Public License for more details. *

* *

* You should have received a copy of the GNU Lesser General Public License *

* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*

* *

****************************************************************************/

#ifndef _XN_REGISTRATION_H_

#define _XN_REGISTRATION_H_

//---------------------------------------------------------------------------

// Includes

//---------------------------------------------------------------------------

#include "XnDeviceSensor.h"

#define XN_REG_PARAB_COEFF 4

#define XN_REG_X_SCALE 16

class XnSensorDepthStream; // Forward Declaration

class XnRegistration

{

public:

XnRegistration();

~XnRegistration() { Free(); }

XnStatus Init(XnDevicePrivateData* pDevicePrivateData, XnSensorDepthStream* pDepthStream, XnUInt16* pDepthToShiftTable);

XnStatus Free();

void Apply(XnDepthPixel* pDM);

inline XnBool IsInitialized() { return m_bInitialized; }

private:

void BuildDepthToShiftTable(XnUInt16* pDepth2Shift, XnSensorDepthStream* m_pStream);

XnStatus BuildRegTable();

XnStatus BuildRegTable1000();

XnStatus BuildRegTable1080();

void Apply1000(XnDepthPixel* pInput, XnDepthPixel* pOutput);

void Apply1080(XnDepthPixel* pInput, XnDepthPixel* pOutput);

XnBool m_bInitialized;

XnDevicePrivateData* m_pDevicePrivateData;

XnSensorDepthStream* m_pDepthStream;

XnUInt16* m_pDepthToShiftTable;

XnBool m_bD2SAlloc;

XnUInt16* m_pRegistrationTable;

XnDepthPixel* m_pTempBuffer;

XnDouble m_dShiftFactor;

XnBool m_b1000;

};

#endif //_XN_RGBREG_H_