Utils.h

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#pragma once
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "ObTypes.h"
 
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);
 
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);
 
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);
 
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);
 
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);
 
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);
 
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);
 
void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error);
 
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);
 
#ifdef __cplusplus
}
#endif