Utils.h File Reference

#include "ObTypes.h"

Go to the source code of this file.

Functions
bool	ob_calibration_3d_to_3d (const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error)
	Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
bool	ob_calibration_2d_to_3d (const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error)
	Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
bool	ob_calibration_2d_to_3d_undistortion (const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error)
	Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
bool	ob_calibration_3d_to_2d (const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error)
	Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
bool	ob_calibration_2d_to_2d (const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error)
	Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera.
ob_frame *	transformation_depth_frame_to_color_camera (ob_device *device, ob_frame *depth_frame, uint32_t target_color_camera_width, uint32_t target_color_camera_height, ob_error **error)
	Transforms the depth frame into the geometry of the color camera.
bool	transformation_init_xy_tables (const ob_calibration_param calibration_param, const ob_sensor_type sensor_type, float *data, uint32_t *data_size, ob_xy_tables *xy_tables, ob_error **error)
	Init transformation tables.
void	transformation_depth_to_pointcloud (ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error)
	Transform depth image to point cloud data.
void	transformation_depth_to_rgbd_pointcloud (ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data, ob_error **error)
	Transform depth image to point cloud data.

Function Documentation

ob_calibration_3d_to_3d()

bool ob_calibration_3d_to_3d	(	const ob_calibration_param	calibration_param,
		const ob_point3f	source_point3f,
		const ob_sensor_type	source_sensor_type,
		const ob_sensor_type	target_sensor_type,
		ob_point3f *	target_point3f,
		ob_error **	error
	)

Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.

Parameters

[in]	calibration_param	Device calibration param,see pipeline::getCalibrationParam
[in]	source_point3f	Source 3d point value
[in]	source_sensor_type	Source sensor type
[in]	target_sensor_type	Target sensor type
[out]	target_point3f	Target 3d point value
[out]	error	Log error messages

Returns

bool Transform result

ob_calibration_2d_to_3d()

bool ob_calibration_2d_to_3d	(	const ob_calibration_param	calibration_param,
		const ob_point2f	source_point2f,
		const float	source_depth_pixel_value,
		const ob_sensor_type	source_sensor_type,
		const ob_sensor_type	target_sensor_type,
		ob_point3f *	target_point3f,
		ob_error **	error
	)

Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.

Parameters

[in]	calibration_param	Device calibration param,see pipeline::getCalibrationParam
[in]	source_point2f	Source 2d point value
[in]	source_depth_pixel_value	The depth of sourcePoint2f in millimeters
[in]	source_sensor_type	Source sensor type
[in]	target_sensor_type	Target sensor type
[out]	target_point3f	Target 3d point value
[out]	error	Log error messages

Returns

bool Transform result

ob_calibration_2d_to_3d_undistortion()

bool ob_calibration_2d_to_3d_undistortion	(	const ob_calibration_param	calibration_param,
		const ob_point2f	source_point2f,
		const float	source_depth_pixel_value,
		const ob_sensor_type	source_sensor_type,
		const ob_sensor_type	target_sensor_type,
		ob_point3f *	target_point3f,
		ob_error **	error
	)

Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.

Parameters

[in]	calibration_param	Device calibration param,see pipeline::getCalibrationParam
[in]	source_point2f	Source 2d point value
[in]	source_depth_pixel_value	The depth of sourcePoint2f in millimeters
[in]	source_sensor_type	Source sensor type
[in]	target_sensor_type	Target sensor type
[out]	target_point3f	Target 3d point value
[out]	error	Log error messages

Returns

bool Transform result

ob_calibration_3d_to_2d()

bool ob_calibration_3d_to_2d	(	const ob_calibration_param	calibration_param,
		const ob_point3f	source_point3f,
		const ob_sensor_type	source_sensor_type,
		const ob_sensor_type	target_sensor_type,
		ob_point2f *	target_point2f,
		ob_error **	error
	)

Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.

Parameters

[in]	calibration_param	Device calibration param,see pipeline::getCalibrationParam
[in]	source_point3f	Source 3d point value
[in]	source_sensor_type	Source sensor type
[in]	target_sensor_type	Target sensor type
[out]	target_point2f	Target 2d point value
[out]	error	Log error messages

Returns

bool Transform result

ob_calibration_2d_to_2d()

bool ob_calibration_2d_to_2d	(	const ob_calibration_param	calibration_param,
		const ob_point2f	source_point2f,
		const float	source_depth_pixel_value,
		const ob_sensor_type	source_sensor_type,
		const ob_sensor_type	target_sensor_type,
		ob_point2f *	target_point2f,
		ob_error **	error
	)

Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera.

Parameters

[in]	calibration_param	Device calibration param,see pipeline::getCalibrationParam
[in]	source_point2f	Source 2d point value
[in]	source_depth_pixel_value	The depth of sourcePoint2f in millimeters
[in]	source_sensor_type	Source sensor type
[in]	target_sensor_type	Target sensor type
[out]	target_point2f	Target 2d point value
[out]	error	Log error messages

Returns

bool Transform result

transformation_depth_frame_to_color_camera()

ob_frame * transformation_depth_frame_to_color_camera	(	ob_device *	device,
		ob_frame *	depth_frame,
		uint32_t	target_color_camera_width,
		uint32_t	target_color_camera_height,
		ob_error **	error
	)

Transforms the depth frame into the geometry of the color camera.

Parameters

[in]	device	Device handle
[in]	depth_frame	Input depth frame
[in]	target_color_camera_width	Target color camera width
[in]	target_color_camera_height	Target color camera height
[out]	error	Log error messages

Returns

ob_frame* Transformed depth frame

transformation_init_xy_tables()

bool transformation_init_xy_tables	(	const ob_calibration_param	calibration_param,
		const ob_sensor_type	sensor_type,
		float *	data,
		uint32_t *	data_size,
		ob_xy_tables *	xy_tables,
		ob_error **	error
	)

Init transformation tables.

Parameters

[in]	calibration_param	Device calibration param,see pipeline::getCalibrationParam
[in]	sensor_type	sensor type
[in]	data	input data,needs to be allocated externally.During initialization, the external allocation size is 'data_size', for example, data_size = 1920 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
[in]	data_size	input data size
[out]	xy_tables	output xy tables
[out]	error	Log error messages

Returns

bool Transform result

transformation_depth_to_pointcloud()

void transformation_depth_to_pointcloud	(	ob_xy_tables *	xy_tables,
		const void *	depth_image_data,
		void *	pointcloud_data,
		ob_error **	error
	)

Transform depth image to point cloud data.

Parameters

[in]	xy_tables	input xy tables,see transformation_init_xy_tables
[in]	depth_image_data	input depth image data
[out]	pointcloud_data	output point cloud data
[out]	error	Log error messages

transformation_depth_to_rgbd_pointcloud()

void transformation_depth_to_rgbd_pointcloud	(	ob_xy_tables *	xy_tables,
		const void *	depth_image_data,
		const void *	color_image_data,
		void *	pointcloud_data,
		ob_error **	error
	)

Transform depth image to point cloud data.

Parameters

[in]	xy_tables	input xy tables,see transformation_init_xy_tables
[in]	depth_image_data	input depth image data
[in]	color_image_data	input color image data (only RGB888 support)
[out]	pointcloud_data	output point cloud data
[out]	error	Log error messages