Utils.hpp

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#pragma once
 
#include "Types.hpp"
 
namespace ob {
class Device;
 
class OB_EXTENSION_API CoordinateTransformHelper {
public:
    static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
                                  const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
 
    static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
                                  const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
 
    static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
                                              const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
 
    static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
                                  const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
 
    static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
                                  const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
 
    static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
                                                                            uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
 
    static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
                                           OBXYTables *xyTables);
 
    static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData);
 
    static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData);
};
}  // namespace ob