MATLAB code to rectify the RGB and depth photos directly exported from Microsoft Kinect SDK. We assume the file `imgfn` stores the binary data directly exported from `ColorImageFrame.CopyPixelDataTo()`, `dfn` stores the binary data exported from `FusionFloatImageFrame.CopyPixelDataTo()`, and `idxfn` stores the binary data exported from the `Colo…

register.m

function newImg = register(imgfn, dfn, idxfn)
% rectify the color image according to the depth and the alignment
% information from the data collection program
% Consult http://grapeot.me/some-technical-details-about-kinectfusion.html for more details.

%% read in the data
fp = fopen(imgfn, 'r');
imgRaw = fread(fp, 'char');
imgRaw = reshape(imgRaw, 4, 640, 480);
for i = 1: 3
    img(:, :, i) = reshape(imgRaw(4 - i, :, :), 640, 480)';
end
fclose(fp);

fp = fopen(dfn, 'r');
d = fread(fp, 'single');
d = reshape(d, 640, 480)';
fclose(fp);

fp = fopen(idxfn, 'r');
idx = fread(fp, 'int');
idx = reshape(idx, 2, 640, 480);
ii = find(idx(1, :) >= 0 & idx(2, :) >= 0);
fclose(fp);

%% do the actual alignment
newImg = zeros(size(img));
for i = ii
    oldy = floor(i / 640) + 1;
    oldx = mod(i, 640) + 1;
    y = idx(2, i) + 1;
    x = idx(1, i) + 1;
    newImg(oldy, oldx, :) = img(y, x, :);
end
for i = 1: 3
    newImg(:, :, i) = fliplr(newImg(:, :, i)) / 255;
end