#include <k4a/k4a.hpp>

Public Member Functions
	transformation (const k4a_calibration_t &calibration) noexcept

	transformation (k4a_transformation_t handle=nullptr) noexcept

	transformation (transformation &&other) noexcept

	transformation (const transformation &)=delete

transformation &	operator= (transformation &&other) noexcept

transformation &	operator= (std::nullptr_t) noexcept

transformation &	operator= (const transformation &)=delete

void	destroy () noexcept

void	depth_image_to_color_camera (const image &depth_image, image *transformed_depth_image) const

image	depth_image_to_color_camera (const image &depth_image) const

void	depth_image_to_color_camera_custom (const image &depth_image, const image &custom_image, image transformed_depth_image, image transformed_custom_image, k4a_transformation_interpolation_type_t interpolation_type, uint32_t invalid_custom_value) const

std::pair< image, image >	depth_image_to_color_camera_custom (const image &depth_image, const image &custom_image, k4a_transformation_interpolation_type_t interpolation_type, uint32_t invalid_custom_value) const

void	color_image_to_depth_camera (const image &depth_image, const image &color_image, image *transformed_color_image) const

image	color_image_to_depth_camera (const image &depth_image, const image &color_image) const

void	depth_image_to_point_cloud (const image &depth_image, k4a_calibration_type_t camera, image *xyz_image) const

image	depth_image_to_point_cloud (const image &depth_image, k4a_calibration_type_t camera) const

Detailed Description

Wrapper for k4a_transformation_t

Wraps a handle for a transformation.

Definition at line 840 of file k4a.hpp.

Constructor & Destructor Documentation

◆ transformation() [1/3]

k4a::transformation::transformation ( const k4a_calibration_t & calibration )

inlinenoexcept

Creates a transformation associated with calibration

See also: k4a_transformation_create

Definition at line 847 of file k4a.hpp.

◆ transformation() [2/3]

k4a::transformation::transformation ( k4a_transformation_t handle = nullptr )

inlinenoexcept

Creates a transformation from a k4a_transformation_t Takes ownership of the handle, i.e. you should not call k4a_transformation_destroy on the handle after giving it to the transformation; the transformation will take care of that.

Definition at line 861 of file k4a.hpp.

◆ transformation() [3/3]

k4a::transformation::transformation ( transformation && other )

inlinenoexcept

Moves another tranformation into a new transformation

Definition at line 865 of file k4a.hpp.

◆ ~transformation()

k4a::transformation::~transformation ( )

inline

Definition at line 875 of file k4a.hpp.

Member Function Documentation

◆ color_image_to_depth_camera() [1/2]

image k4a::transformation::color_image_to_depth_camera	(	const image &	depth_image,
		const image &	color_image
	)		const

inline

Transforms the color image into the geometry of the depth camera. Throws error on failure

See also: k4a_transformation_color_image_to_depth_camera Creates a new image with the output.

Definition at line 1045 of file k4a.hpp.

◆ color_image_to_depth_camera() [2/2]

void k4a::transformation::color_image_to_depth_camera	(	const image &	depth_image,
		const image &	color_image,
		image *	transformed_color_image
	)		const

inline

Transforms the color image into the geometry of the depth camera. Throws error on failure

See also: k4a_transformation_color_image_to_depth_camera Transforms the output in to the existing caller provided transformed_color_image.

Definition at line 1025 of file k4a.hpp.

◆ depth_image_to_color_camera() [1/2]

image k4a::transformation::depth_image_to_color_camera ( const image & depth_image ) const

inline

Transforms the depth map into the geometry of the color camera. Throws error on failure

See also: k4a_transformation_depth_image_to_color_camera Creates a new image with the output.

Definition at line 940 of file k4a.hpp.

◆ depth_image_to_color_camera() [2/2]

void k4a::transformation::depth_image_to_color_camera	(	const image &	depth_image,
		image *	transformed_depth_image
	)		const

inline

Transforms the depth map into the geometry of the color camera. Throws error on failure

See also: k4a_transformation_depth_image_to_color_camera Transforms the output in to the existing caller provided transformed_depth_image.

Definition at line 923 of file k4a.hpp.

◆ depth_image_to_color_camera_custom() [1/2]

void k4a::transformation::depth_image_to_color_camera_custom	(	const image &	depth_image,
		const image &	custom_image,
		image *	transformed_depth_image,
		image *	transformed_custom_image,
		k4a_transformation_interpolation_type_t	interpolation_type,
		uint32_t	invalid_custom_value
	)		const

inline

Transforms depth map and a custom image into the geometry of the color camera. Throws error on failure

See also: k4a_transformation_depth_image_to_color_camera_custom Transforms the output in to the existing caller provided transformed_depth_image transformed_custom_image.

Definition at line 957 of file k4a.hpp.

◆ depth_image_to_color_camera_custom() [2/2]

std::pair< image, image > k4a::transformation::depth_image_to_color_camera_custom	(	const image &	depth_image,
		const image &	custom_image,
		k4a_transformation_interpolation_type_t	interpolation_type,
		uint32_t	invalid_custom_value
	)		const

inline

Transforms depth map and a custom image into the geometry of the color camera. Throws error on failure

See also: k4a_transformation_depth_image_to_color_camera_custom Creates a new image with the output.

Definition at line 984 of file k4a.hpp.

◆ depth_image_to_point_cloud() [1/2]

image k4a::transformation::depth_image_to_point_cloud	(	const image &	depth_image,
		k4a_calibration_type_t	camera
	)		const

inline

Transforms the depth image into 3 planar images representing X, Y and Z-coordinates of corresponding 3d points. Throws error on failure.

See also: k4a_transformation_depth_image_to_point_cloud Creates a new image with the output.

Definition at line 1078 of file k4a.hpp.

◆ depth_image_to_point_cloud() [2/2]

void k4a::transformation::depth_image_to_point_cloud	(	const image &	depth_image,
		k4a_calibration_type_t	camera,
		image *	xyz_image
	)		const

inline

Transforms the depth image into 3 planar images representing X, Y and Z-coordinates of corresponding 3d points. Throws error on failure.

See also: k4a_transformation_depth_image_to_point_cloud Transforms the output in to the existing caller provided xyz_image.

Definition at line 1062 of file k4a.hpp.

◆ destroy()

void k4a::transformation::destroy ( )

inlinenoexcept

Invalidates this transformation

Definition at line 908 of file k4a.hpp.

◆ operator=() [1/2]

transformation & k4a::transformation::operator= ( std::nullptr_t )

inlinenoexcept

Invalidates this transformation

Definition at line 898 of file k4a.hpp.

◆ operator=() [2/2]

transformation & k4a::transformation::operator= ( transformation && other )

inlinenoexcept

Moves another image into this image; other is set to invalid

Definition at line 882 of file k4a.hpp.

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

k4a.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ transformation() [1/3]

◆ transformation() [2/3]

◆ transformation() [3/3]

◆ ~transformation()

Member Function Documentation

◆ color_image_to_depth_camera() [1/2]

◆ color_image_to_depth_camera() [2/2]

◆ depth_image_to_color_camera() [1/2]

◆ depth_image_to_color_camera() [2/2]

◆ depth_image_to_color_camera_custom() [1/2]

◆ depth_image_to_color_camera_custom() [2/2]

◆ depth_image_to_point_cloud() [1/2]

◆ depth_image_to_point_cloud() [2/2]

◆ destroy()

◆ operator=() [1/2]

◆ operator=() [2/2]