Auto-Refining Reconstruction Algorithm for Recreation of Limited Angle Humanoid Depth Data

. 2021 May 26;21(11):3702. doi: 10.3390/s21113702

Algorithm 1 Convert depth image to pointcloud

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procedureTO_POINTS( $w, h, f_{x}, f_{y}, c_{x}, c_{y}, D$ ) ▹ Converts depth D to vertices
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$x \leftarrow 0$
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$y \leftarrow 0$
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$V \leftarrow {\emptyset}$ ▹ Create empty output vertex list
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for x < w do
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for y < h do
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$z_{i} \leftarrow D (x, y)$ ▹ Get depth value from depth frame
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$x_{i} \leftarrow (x - c_{x}) \cdot z_{i} / f_{x}$
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$y_{i} \leftarrow (y - c_{y}) \cdot z_{i} / f_{y}$
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insert ( $x_{i}$ , $y_{i}$ , $z_{i}$ ) into V
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end for
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end for
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return V
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end procedure