Orbbec SDK K4A Wrapper
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Public Member Functions | Static Public Member Functions | List of all members
k4a::calibration Class Reference
C++ Reference

#include <k4a/k4a.hpp>

+ Inheritance diagram for k4a::calibration:

Public Member Functions

k4a_float3_t convert_3d_to_3d (const k4a_float3_t &source_point3d, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera) const
 
bool convert_2d_to_3d (const k4a_float2_t &source_point2d, float source_depth, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float3_t *target_point3d) const
 
bool convert_3d_to_2d (const k4a_float3_t &source_point3d, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d) const
 
bool convert_2d_to_2d (const k4a_float2_t &source_point2d, float source_depth, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d) const
 
bool convert_color_2d_to_depth_2d (const k4a_float2_t &source_point2d, const image &depth_image, k4a_float2_t *target_point2d) const
 

Static Public Member Functions

static calibration get_from_raw (char *raw_calibration, size_t raw_calibration_size, k4a_depth_mode_t target_depth_mode, k4a_color_resolution_t target_color_resolution)
 
static calibration get_from_raw (uint8_t *raw_calibration, size_t raw_calibration_size, k4a_depth_mode_t target_depth_mode, k4a_color_resolution_t target_color_resolution)
 
static calibration get_from_raw (std::vector< uint8_t > &raw_calibration, k4a_depth_mode_t target_depth_mode, k4a_color_resolution_t target_color_resolution)
 

Additional Inherited Members

- Public Attributes inherited from _k4a_calibration_t
k4a_calibration_camera_t depth_camera_calibration
 
k4a_calibration_camera_t color_camera_calibration
 
k4a_calibration_extrinsics_t extrinsics [K4A_CALIBRATION_TYPE_NUM][K4A_CALIBRATION_TYPE_NUM]
 
k4a_depth_mode_t depth_mode
 
k4a_color_resolution_t color_resolution
 
- Related Functions inherited from _k4a_calibration_t
K4A_EXPORT k4a_result_t k4a_calibration_3d_to_3d (const k4a_calibration_t *calibration, const k4a_float3_t *source_point3d_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float3_t *target_point3d_mm)
 
K4A_EXPORT k4a_result_t k4a_calibration_2d_to_3d (const k4a_calibration_t *calibration, const k4a_float2_t *source_point2d, const float source_depth_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float3_t *target_point3d_mm, int *valid)
 
K4A_EXPORT k4a_result_t k4a_calibration_3d_to_2d (const k4a_calibration_t *calibration, const k4a_float3_t *source_point3d_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d, int *valid)
 
K4A_EXPORT k4a_result_t k4a_calibration_2d_to_2d (const k4a_calibration_t *calibration, const k4a_float2_t *source_point2d, const float source_depth_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d, int *valid)
 
K4A_EXPORT k4a_result_t k4a_calibration_color_2d_to_depth_2d (const k4a_calibration_t *calibration, const k4a_float2_t *source_point2d, const k4a_image_t depth_image, k4a_float2_t *target_point2d, int *valid)
 
K4A_EXPORT k4a_transformation_t k4a_transformation_create (const k4a_calibration_t *calibration)
 

Detailed Description

Wrapper for k4a_calibration_t

Provides member functions for k4a_calibration_t.

Definition at line 662 of file k4a.hpp.

Member Function Documentation

◆ convert_2d_to_2d()

bool k4a::calibration::convert_2d_to_2d ( const k4a_float2_t &  source_point2d,
float  source_depth,
k4a_calibration_type_t  source_camera,
k4a_calibration_type_t  target_camera,
k4a_float2_t *  target_point2d 
) const
inline

Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera Returns false if the point is invalid in the target coordinate system (and therefore target_point2d should not be used) Throws error if calibration contains invalid data.

See also
k4a_calibration_2d_to_2d

Definition at line 740 of file k4a.hpp.

◆ convert_2d_to_3d()

bool k4a::calibration::convert_2d_to_3d ( const k4a_float2_t &  source_point2d,
float  source_depth,
k4a_calibration_type_t  source_camera,
k4a_calibration_type_t  target_camera,
k4a_float3_t *  target_point3d 
) const
inline

Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system. Returns false if the point is invalid in the target coordinate system (and therefore target_point3d should not be used) Throws error if calibration contains invalid data.

See also
k4a_calibration_2d_to_3d

Definition at line 692 of file k4a.hpp.

◆ convert_3d_to_2d()

bool k4a::calibration::convert_3d_to_2d ( const k4a_float3_t &  source_point3d,
k4a_calibration_type_t  source_camera,
k4a_calibration_type_t  target_camera,
k4a_float2_t *  target_point2d 
) const
inline

Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera. Returns false if the point is invalid in the target coordinate system (and therefore target_point2d should not be used) Throws error if calibration contains invalid data.

See also
k4a_calibration_3d_to_2d

Definition at line 716 of file k4a.hpp.

◆ convert_3d_to_3d()

k4a_float3_t k4a::calibration::convert_3d_to_3d ( const k4a_float3_t &  source_point3d,
k4a_calibration_type_t  source_camera,
k4a_calibration_type_t  target_camera 
) const
inline

Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system. Throws error on failure.

See also
k4a_calibration_3d_to_3d

Definition at line 669 of file k4a.hpp.

◆ convert_color_2d_to_depth_2d()

bool k4a::calibration::convert_color_2d_to_depth_2d ( const k4a_float2_t &  source_point2d,
const image &  depth_image,
k4a_float2_t *  target_point2d 
) const
inline

Transform a 2D pixel coordinate from color camera into a 2D pixel coordinate of the depth camera. This function searches along an epipolar line in the depth image to find the corresponding depth pixel. Returns false if the point is invalid in the target coordinate system (and therefore target_point2d should not be used) Throws error if calibration contains invalid data.

See also
k4a_calibration_color_2d_to_depth_2d

Definition at line 764 of file k4a.hpp.

◆ get_from_raw() [1/3]

static calibration k4a::calibration::get_from_raw ( char *  raw_calibration,
size_t  raw_calibration_size,
k4a_depth_mode_t  target_depth_mode,
k4a_color_resolution_t  target_color_resolution 
)
inlinestatic

Get the camera calibration for a device from a raw calibration blob. Throws error on failure.

See also
k4a_calibration_get_from_raw

Definition at line 784 of file k4a.hpp.

◆ get_from_raw() [2/3]

static calibration k4a::calibration::get_from_raw ( std::vector< uint8_t > &  raw_calibration,
k4a_depth_mode_t  target_depth_mode,
k4a_color_resolution_t  target_color_resolution 
)
inlinestatic

Get the camera calibration for a device from a raw calibration blob. Throws error on failure.

See also
k4a_calibration_get_from_raw

Definition at line 824 of file k4a.hpp.

◆ get_from_raw() [3/3]

static calibration k4a::calibration::get_from_raw ( uint8_t *  raw_calibration,
size_t  raw_calibration_size,
k4a_depth_mode_t  target_depth_mode,
k4a_color_resolution_t  target_color_resolution 
)
inlinestatic

Get the camera calibration for a device from a raw calibration blob. Throws error on failure.

See also
k4a_calibration_get_from_raw

Definition at line 808 of file k4a.hpp.

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