#include <Utils.hpp>

Static Public Member Functions
static bool	calibration3dTo3d (const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f)
	Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.

static bool	calibration2dTo3d (const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue, const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f)
	Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.

static bool	calibration2dTo3dUndistortion (const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue, const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f)
	Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.

static bool	calibration3dTo2d (const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f)
	Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.

static bool	calibration2dTo2d (const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue, const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f)
	Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera.

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

static bool	transformationInitXYTables (const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float data, uint32_t dataSize, OBXYTables *xyTables)
	Init transformation tables.

static void	transformationDepthToPointCloud (OBXYTables xyTables, const void depthImageData, void *pointCloudData)
	Transform depth image to point cloud data.

static void	transformationDepthToRGBDPointCloud (OBXYTables xyTables, const void depthImageData, const void colorImageData, void pointCloudData)
	Transform depth image to RGBD point cloud data.

Detailed Description

Definition at line 13 of file Utils.hpp.

Member Function Documentation

◆ calibration3dTo3d()

static bool ob::CoordinateTransformHelper::calibration3dTo3d	(	const OBCalibrationParam	calibrationParam,
		const OBPoint3f	sourcePoint3f,
		const OBSensorType	sourceSensorType,
		const OBSensorType	targetSensorType,
		OBPoint3f *	targetPoint3f
	)

static

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

Parameters

calibrationParam	Device calibration param,see pipeline::getCalibrationParam
sourcePoint3f	Source 3d point value
sourceSensorType	Source sensor type
targetSensorType	Target sensor type
targetPoint3f	Target 3d point value

Returns: bool Transform result

◆ calibration2dTo3d()

static bool ob::CoordinateTransformHelper::calibration2dTo3d	(	const OBCalibrationParam	calibrationParam,
		const OBPoint2f	sourcePoint2f,
		const float	sourceDepthPixelValue,
		const OBSensorType	sourceSensorType,
		const OBSensorType	targetSensorType,
		OBPoint3f *	targetPoint3f
	)

static

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

Parameters

calibrationParam	Device calibration param,see pipeline::getCalibrationParam
sourcePoint2f	Source 2d point value
sourceDepthPixelValue	The depth of sourcePoint2f in millimeters
sourceSensorType	Source sensor type
targetSensorType	Target sensor type
targetPoint3f	Target 3d point value

Returns: bool Transform result

◆ calibration2dTo3dUndistortion()

static bool ob::CoordinateTransformHelper::calibration2dTo3dUndistortion	(	const OBCalibrationParam	calibrationParam,
		const OBPoint2f	sourcePoint2f,
		const float	sourceDepthPixelValue,
		const OBSensorType	sourceSensorType,
		const OBSensorType	targetSensorType,
		OBPoint3f *	targetPoint3f
	)

static

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

This function uses undistortion, which may result in longer processing time.

Parameters

calibrationParam	Device calibration param,see pipeline::getCalibrationParam
sourcePoint2f	Source 2d point value
sourceDepthPixelValue	The depth of sourcePoint2f in millimeters
sourceSensorType	Source sensor type
targetSensorType	Target sensor type
targetPoint3f	Target 3d point value

Returns: bool Transform result

◆ calibration3dTo2d()

static bool ob::CoordinateTransformHelper::calibration3dTo2d	(	const OBCalibrationParam	calibrationParam,
		const OBPoint3f	sourcePoint3f,
		const OBSensorType	sourceSensorType,
		const OBSensorType	targetSensorType,
		OBPoint2f *	targetPoint2f
	)

static

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

Parameters

calibrationParam	Device calibration param,see pipeline::getCalibrationParam
sourcePoint3f	Source 3d point value
sourceSensorType	Source sensor type
targetSensorType	Target sensor type
targetPoint2f	Target 2d point value

Returns: bool Transform result

◆ calibration2dTo2d()

static bool ob::CoordinateTransformHelper::calibration2dTo2d	(	const OBCalibrationParam	calibrationParam,
		const OBPoint2f	sourcePoint2f,
		const float	sourceDepthPixelValue,
		const OBSensorType	sourceSensorType,
		const OBSensorType	targetSensorType,
		OBPoint2f *	targetPoint2f
	)

static

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

Parameters

calibrationParam	Device calibration param,see pipeline::getCalibrationParam
sourcePoint2f	Source 2d point value
sourceDepthPixelValue	The depth of sourcePoint2f in millimeters
sourceSensorType	Source sensor type
targetSensorType	Target sensor type
targetPoint2f	Target 2d point value

Returns: bool Transform result

◆ transformationDepthFrameToColorCamera()

static std::shared_ptr< ob::Frame > ob::CoordinateTransformHelper::transformationDepthFrameToColorCamera	(	std::shared_ptr< ob::Device >	device,
		std::shared_ptr< ob::Frame >	depthFrame,
		uint32_t	targetColorCameraWidth,
		uint32_t	targetColorCameraHeight
	)

static

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

Parameters

device	Device handle
depthFrame	Input depth frame
targetColorCameraWidth	Target color camera width
targetColorCameraHeight	Target color camera height

Returns: std::shared_ptr<ob::Frame> Transformed depth frame

◆ transformationInitXYTables()

static bool ob::CoordinateTransformHelper::transformationInitXYTables	(	const OBCalibrationParam	calibrationParam,
		const OBSensorType	sensorType,
		float *	data,
		uint32_t *	dataSize,
		OBXYTables *	xyTables
	)

static

Init transformation tables.

Parameters

calibrationParam	Device calibration param,see pipeline::getCalibrationParam
sensorType	sensor type
data	input data,needs to be allocated externally.During initialization, the external allocation size is 'dataSize', for example, dataSize = 1920 * 1080 * 2sizeof(float) (1920 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
dataSize	input data size
xyTables	output xy tables

Returns: bool Transform result

◆ transformationDepthToPointCloud()

static void ob::CoordinateTransformHelper::transformationDepthToPointCloud	(	OBXYTables *	xyTables,
		const void *	depthImageData,
		void *	pointCloudData
	)

static

Transform depth image to point cloud data.

Parameters

xyTables	input xy tables,see CoordinateTransformHelper::transformationInitXYTables
depthImageData	input depth image data
pointCloudData	output point cloud data

◆ transformationDepthToRGBDPointCloud()

static void ob::CoordinateTransformHelper::transformationDepthToRGBDPointCloud	(	OBXYTables *	xyTables,
		const void *	depthImageData,
		const void *	colorImageData,
		void *	pointCloudData
	)

static

Transform depth image to RGBD point cloud data.

Parameters

xyTables	input xy tables,see CoordinateTransformHelper::transformationInitXYTables
depthImageData	input depth image data
colorImageData	input color image data (only RGB888 support)
pointCloudData	output RGBD point cloud data

The documentation for this class was generated from the following file:

E:/Projects/Jenkins/workspace/OrbbecSDK/libobsensor/include/libobsensor/hpp/Utils.hpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ calibration3dTo3d()

◆ calibration2dTo3d()

◆ calibration2dTo3dUndistortion()

◆ calibration3dTo2d()

◆ calibration2dTo2d()

◆ transformationDepthFrameToColorCamera()

◆ transformationInitXYTables()

◆ transformationDepthToPointCloud()

◆ transformationDepthToRGBDPointCloud()