src/view.cpp

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#include "rgbd/view.h"
 
#include <image_geometry/pinhole_camera_model.h>
#include <opencv2/core/mat.hpp>
 
namespace rgbd {
 
// ----------------------------------------------------------------------------------------
 
View::View(const Image& image, int width) :
    image_(image), width_(width)
{
    const cv::Mat& rgb_image = image.getRGBImage();
    const cv::Mat& depth_image = image.getDepthImage();
    // Determine scaling between rgb and depth
    float aspect_ratio = static_cast<float>(depth_image.cols) / static_cast<float>(depth_image.rows); // 640 / 480
    height_ = static_cast<int>(width_ / aspect_ratio);
 
    // Factors
    rgb_factor_ = static_cast<float>(rgb_image.cols) / static_cast<float>(width_);
    depth_factor_ = static_cast<float>(depth_image.cols) / static_cast<float>(width_);
 
    rasterizer_.initFromCamModel(image.getCameraModel());
}
 
}