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Allow to perform registration while keeping the depth buffer #649
Description
Hi, author of obs-kinect here.
First of all, thank you for your amazing job on libfreenect, I've been using it for my plugin but there's one issue that remains, I need to be able to get registered depth (color-mapped depth as I call it) and regular depth at the same time, however libfreenect seems to be the only kinect backend which doesn't provide a function to map depth to rgb space (libfreenect2 has Registration::apply, Kinect SDKs have MapColorFrameToDepthFrame, Azure SDK has k4a_transformation_depth_image_to_color_camera).
I see there's the internal freenect_apply_depth_to_mm which seems to do what I want, is there a way it could be exposed?
Thank you.
Activity
piedar commentedon Jan 3, 2022
I think you might want
freenect_apply_registrationbecause it aligns the result to the RGB image, whilefreenect_apply_depth_to_mmconverts to mm but does not align.SirLynix commentedon Jan 4, 2022
Yes indeed. I made a fork of libfreeenect to expose such features which allowed me to have both depth and color-mapped depth images.
feat: expose a function to apply depth registration - fixes #649
feat: expose a function to apply depth registration - fixes #649
feat: expose a function to apply depth registration - fixes #649
piedar commentedon Jan 4, 2022
Nice! I had a quick go at it the other day. It's a bit more complicated, but I kept
convert_packed_to_16bitinternal and my registration function handles all the depth modes rather than justFREENECT_DEPTH_11BIT. Let me know what you think.SirLynix commentedon Jan 4, 2022
Looks good! I will give it a try to check if it works as expected soon, thank you!
edugimeno commentedon Apr 18, 2022
Please please forgive me for hijacking this thread for this question, but there's absolutely no place / forum I can find to place a couple questions about this project. The wiki links to google groups which were closed 4 years ago. There's no other trace of forum for OpenKinect, can you please help me with directions for any currently working forum for OpenKinect / Libfreenect?
Thanks in advance and sorry
piedar commentedon Sep 19, 2022
@edugimeno Alas, there isn't really a forum that I know of. I check in here on GitHub occasionally to fix bugs and give suggestions, but most contributors have moved on to other projects.