api: Hide private functions in Registation

Registration class is marked as API. Private functions in
Registration got exported as symbols.

Avoid that.

Author: xlz

include/libfreenect2/registration.h

@@ -37,11 +37,14 @@
 namespace libfreenect2
 {
 
+class RegistrationImpl;
+
 /** Combine frames of depth and color camera. */
 class LIBFREENECT2_API Registration
 {
 public:
   Registration(Freenect2Device::IrCameraParams depth_p, Freenect2Device::ColorCameraParams rgb_p);
+  ~Registration();
 
   // undistort/register a single depth data point
   void apply(int dx, int dy, float dz, float& cx, float &cy) const;
@@ -53,20 +56,7 @@ class LIBFREENECT2_API Registration
   void getPointXYZRGB (const Frame* undistorted, const Frame* registered, int r, int c, float& x, float& y, float& z, float& rgb) const;
 
 private:
-  void distort(int mx, int my, float& dx, float& dy) const;
-  void depth_to_color(float mx, float my, float& rx, float& ry) const;
-
-  Freenect2Device::IrCameraParams depth;    ///< Depth camera parameters.
-  Freenect2Device::ColorCameraParams color; ///< Color camera parameters.
-
-  int distort_map[512 * 424];
-  float depth_to_color_map_x[512 * 424];
-  float depth_to_color_map_y[512 * 424];
-  int depth_to_color_map_yi[512 * 424];
-
-  const int filter_width_half;
-  const int filter_height_half;
-  const float filter_tolerance;
+  RegistrationImpl *impl_;
 };
 
 } /* namespace libfreenect2 */

src/registration.cpp

@@ -43,7 +43,32 @@ namespace libfreenect2
 static const float depth_q = 0.01;
 static const float color_q = 0.002199;
 
-void Registration::distort(int mx, int my, float& x, float& y) const
+class RegistrationImpl
+{
+public:
+  RegistrationImpl(Freenect2Device::IrCameraParams depth_p, Freenect2Device::ColorCameraParams rgb_p);
+
+  void apply(int dx, int dy, float dz, float& cx, float &cy) const;
+  void apply(const Frame* rgb, const Frame* depth, Frame* undistorted, Frame* registered, const bool enable_filter, Frame* bigdepth) const;
+  void getPointXYZRGB (const Frame* undistorted, const Frame* registered, int r, int c, float& x, float& y, float& z, float& rgb) const;
+  void distort(int mx, int my, float& dx, float& dy) const;
+  void depth_to_color(float mx, float my, float& rx, float& ry) const;
+
+private:
+  Freenect2Device::IrCameraParams depth;    ///< Depth camera parameters.
+  Freenect2Device::ColorCameraParams color; ///< Color camera parameters.
+
+  int distort_map[512 * 424];
+  float depth_to_color_map_x[512 * 424];
+  float depth_to_color_map_y[512 * 424];
+  int depth_to_color_map_yi[512 * 424];
+
+  const int filter_width_half;
+  const int filter_height_half;
+  const float filter_tolerance;
+};
+
+void RegistrationImpl::distort(int mx, int my, float& x, float& y) const
 {
   // see http://en.wikipedia.org/wiki/Distortion_(optics) for description
   float dx = ((float)mx - depth.cx) / depth.fx;
@@ -57,7 +82,7 @@ void Registration::distort(int mx, int my, float& x, float& y) const
   y = depth.fy * (dy * kr + depth.p1 * (r2 + 2 * dy2) + depth.p2 * dxdy2) + depth.cy;
 }
 
-void Registration::depth_to_color(float mx, float my, float& rx, float& ry) const
+void RegistrationImpl::depth_to_color(float mx, float my, float& rx, float& ry) const
 {
   mx = (mx - depth.cx) * depth_q;
   my = (my - depth.cy) * depth_q;
@@ -82,6 +107,11 @@ void Registration::depth_to_color(float mx, float my, float& rx, float& ry) cons
  * Undistort/register a single depth data point
  */
 void Registration::apply( int dx, int dy, float dz, float& cx, float &cy) const
+{
+  impl_->apply(dx, dy, dz, cx, cy);
+}
+
+void RegistrationImpl::apply( int dx, int dy, float dz, float& cx, float &cy) const
 {
   const int index = dx + dy * 512;
   float rx = depth_to_color_map_x[index];
@@ -103,6 +133,11 @@ void Registration::apply( int dx, int dy, float dz, float& cx, float &cy) const
  * @note The \a bigdepth frame has a blank top and bottom row.
  */
 void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth) const
+{
+  impl_->apply(rgb, depth, undistorted, registered, enable_filter, bigdepth);
+}
+
+void RegistrationImpl::apply(const Frame *rgb, const Frame *depth, Frame *undistorted, Frame *registered, const bool enable_filter, Frame *bigdepth) const
 {
   // Check if all frames are valid and have the correct size
   if (!rgb || !depth || !undistorted || !registered ||
@@ -263,6 +298,11 @@ void Registration::apply(const Frame *rgb, const Frame *depth, Frame *undistorte
  * @param[out] RGB associated rgb color of point.
  */
 void Registration::getPointXYZRGB (const Frame* undistorted, const Frame* registered, int r, int c, float& x, float& y, float& z, float& rgb) const
+{
+  impl_->getPointXYZRGB(undistorted, registered, r, c, x, y, z, rgb);
+}
+
+void RegistrationImpl::getPointXYZRGB (const Frame* undistorted, const Frame* registered, int r, int c, float& x, float& y, float& z, float& rgb) const
 {
   const float bad_point = std::numeric_limits<float>::quiet_NaN();
   const float cx(depth.cx), cy(depth.cy);
@@ -288,6 +328,14 @@ void Registration::getPointXYZRGB (const Frame* undistorted, const Frame* regist
 }
 
 Registration::Registration(Freenect2Device::IrCameraParams depth_p, Freenect2Device::ColorCameraParams rgb_p):
+  impl_(new RegistrationImpl(depth_p, rgb_p)) {}
+
+Registration::~Registration()
+{
+  delete impl_;
+}
+
+RegistrationImpl::RegistrationImpl(Freenect2Device::IrCameraParams depth_p, Freenect2Device::ColorCameraParams rgb_p):
   depth(depth_p), color(rgb_p), filter_width_half(2), filter_height_half(1), filter_tolerance(0.01f)
 {
   float mx, my;