updated structure

.gitignore

@@ -1,3 +1,3 @@
 build
 Bin
-bin
+bin

data/cameraCalibration/cam1.yml

@@ -0,0 +1,62 @@
+%YAML:1.0
+rgb_intrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.0758176245332745e+03, 0., 2.9598181239929465e+02, 0.,
+       1.0224913828054332e+03, 3.0647625139567793e+02, 0., 0., 1. ]
+rgb_distortion: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -9.8542960738486685e-01, 3.3012143869746936e+01,
+       -5.2306065886476946e-02, -1.3339348884136036e-02,
+       -3.5073408519184056e+02 ]
+depth_intrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.4387336445035692e+02, 0., 3.1771575191660361e+02, 0.,
+       5.9836009256438865e+02, 2.5312714566406405e+02, 0., 0., 1. ]
+depth_distortion: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -1.1105873948971257e+00, 9.2107409496535038e+00,
+       -4.4042835177016300e-02, -2.3487012060683407e-03,
+       -3.2598008597811017e+01 ]
+R: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.8855758528855087e-01, -1.7352168156675767e-02,
+       1.4984259350642537e-01, 1.8065076374739208e-02,
+       9.9983103978450982e-01, -3.3977785391095224e-03,
+       -1.4975831724496713e-01, 6.0658176438499476e-03,
+       9.8870402662893375e-01 ]
+T: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.5196736332232605e-01, 4.3025455313719409e-02,
+       -4.5401483144345484e-01 ]
+rgb_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 640, 480 ]
+raw_rgb_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 640, 480 ]
+depth_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 640, 480 ]
+raw_depth_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 640, 480 ]

data/cameraCalibration/cam2.yml

@@ -0,0 +1,77 @@
+%YAML:1.0
+rgb_intrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.0468351556452853e+02, 0., 3.1971675900537230e+02, 0.,
+       4.0833106075581509e+02, 2.3171574950919177e+02, 0., 0., 1. ]
+rgb_distortion: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 2.6480932144599206e-01, -9.9078719321597286e-01,
+       -3.3156649854547499e-02, 1.2520579191676281e-02,
+       4.3929458764649167e+00 ]
+depth_intrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.8649992332616063e+02, 0., 3.3193387949536913e+02, 0.,
+       4.6134196228595829e+02, 2.2403811542072435e+02, 0., 0., 1. ]
+depth_distortion: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 6.1421408731261923e-02, -2.5229251193554720e+00,
+       -1.9156660373161834e-02, 1.2879578387982950e-02,
+       1.7193043448482555e+01 ]
+R: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 8.0596863230835347e-01, 2.7899393736247546e-01,
+       5.2208902176734684e-01, -1.6683107897246496e-01,
+       9.5327355591261831e-01, -2.5186686698848537e-01,
+       -5.6796298719536753e-01, 1.1589611948937434e-01,
+       8.1485344367157186e-01 ]
+T: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.1936976050549915e+00, -8.3453230623150493e-02,
+       -1.8282977626434083e-01 ]
+R_extrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
+T_extrinsics: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 0., 0., 0. ]
+rgb_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 640, 480 ]
+raw_rgb_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 640, 480 ]
+depth_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 640, 480 ]
+raw_depth_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 640, 480 ]
+depth_base_and_offset: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: f
+   data: [ 7.50000030e-02, 1090. ]

data/cameraConfig/cam1.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Camera type="niKinect">
+	<serial serial="A00367A06179134A"/>
+	<calibration location="../../data/cameraCalibration/cam1.yml"/>
+	<offset x="0.5" y="0.5" z="0.5"/>
+	<rotation rotation="0.5"/>
+</Camera>

data/cameraConfig/cam2.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Camera type="niKinect">
+	<serial serial="A00367A00703134A"/>
+	<calibration location="../../data/cameraCalibration/cam2.yml"/>
+	<offset x="0.5" y="0.5" z="0.5"/>
+	<rotation rotation="0.5"/>
+</Camera>

p3d/CMakeLists.txt

@@ -25,6 +25,9 @@ SET (p3d_sources
 		CoordinateSpace/baseCoordinateSpace.cpp
 		CoordinateSpace/cameraCoordinateSpace.h
 		CoordinateSpace/cameraCoordinateSpace.cpp
+		Configuration/niKinectConfiguration.h
+		Configuration/niKinectConfiguration.cpp
+		Registration/Align.h
 )
 
 ADD_LIBRARY(p3d STATIC ${p3d_sources})