fixed bug and simplified a formula.

Thiemo Wiedemeyer · floe · commit 10c012c7a46e · 2015-06-10T23:00:42.000+02:00
diff --git a/examples/protonect/src/registration.cpp b/examples/protonect/src/registration.cpp
@@ -73,7 +73,7 @@ void Registration::depth_to_color(float mx, float my, float& rx, float& ry)
     (mx * color.my_x1y0) + (my * color.my_x0y1) + (color.my_x0y0);
 
   rx = (wx / (color.fx * color_q)) - (color.shift_m / color.shift_d);
-  ry = (wy / (color.fx * color_q)) * color.fy + color.cy;
+  ry = (wy / color_q) + color.cy;
 }
 
 void Registration::apply( int dx, int dy, float dz, float& cx, float &cy) const

Original file line number	Diff line number	Diff line change
`@@ -73,7 +73,7 @@ void Registration::depth_to_color(float mx, float my, float& rx, float& ry)`
`73`	`73`	`(mx * color.my_x1y0) + (my * color.my_x0y1) + (color.my_x0y0);`
`74`	`74`
`75`	`75`	`rx = (wx / (color.fx * color_q)) - (color.shift_m / color.shift_d);`
`76`		`- ry = (wy / (color.fx * color_q)) * color.fy + color.cy;`
	`76`	`+ ry = (wy / color_q) + color.cy;`
`77`	`77`	`}`
`78`	`78`
`79`	`79`	`void Registration::apply( int dx, int dy, float dz, float& cx, float &cy) const`