Utils.h File Reference

#include "ObTypes.h"

Go to the source code of this file.

Functions
OB_EXPORT bool	ob_transformation_3d_to_3d (const OBPoint3f source_point3f, OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error)
	Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
OB_EXPORT bool	ob_transformation_2d_to_3d (const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic, OBExtrinsic extrinsic, OBPoint3f *target_point3f, ob_error **error)
	Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
OB_EXPORT bool	ob_transformation_3d_to_2d (const OBPoint3f source_point3f, const OBCameraIntrinsic target_intrinsic, const OBCameraDistortion target_distortion, OBExtrinsic extrinsic, OBPoint2f *target_point2f, ob_error **error)
	Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
OB_EXPORT bool	ob_transformation_2d_to_2d (const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic, const OBCameraDistortion source_distortion, const OBCameraIntrinsic target_intrinsic, const OBCameraDistortion target_distortion, OBExtrinsic extrinsic, OBPoint2f *target_point2f, ob_error **error)
	Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera.
OB_EXPORT 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)
OB_EXPORT 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)
OB_EXPORT void	transformation_depth_to_pointcloud (ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error)
OB_EXPORT 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)
OB_EXPORT 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)
OB_EXPORT 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)
OB_EXPORT 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)
OB_EXPORT 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_EXPORT bool	ob_save_pointcloud_to_ply (const char *file_name, ob_frame *frame, bool save_binary, bool use_mesh, float mesh_threshold, ob_error **error)
	save point cloud to ply file.

Function Documentation

ob_transformation_3d_to_3d()

OB_EXPORT bool ob_transformation_3d_to_3d	(	const OBPoint3f	source_point3f,
		OBExtrinsic	extrinsic,
		OBPoint3f *	target_point3f,
		ob_error **	error )

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

Parameters

[in]	source_point3f	Source 3d point value
[in]	extrinsic	Transformation matrix from source to target
[out]	target_point3f	Target 3d point value
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

bool Transform result

Referenced by ob::CoordinateTransformHelper::transformation3dto3d().

ob_transformation_2d_to_3d()

OB_EXPORT bool ob_transformation_2d_to_3d	(	const OBPoint2f	source_point2f,
		const float	source_depth_pixel_value,
		const OBCameraIntrinsic	source_intrinsic,
		OBExtrinsic	extrinsic,
		OBPoint3f *	target_point3f,
		ob_error **	error )

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

Parameters

[in]	source_point2f	Source 2d point value
[in]	source_depth_pixel_value	The depth of sourcePoint2f in millimeters
[in]	source_intrinsic	Source intrinsic parameters
[in]	extrinsic	Transformation matrix from source to target
[out]	target_point3f	Target 3d point value
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

bool Transform result

Referenced by ob::CoordinateTransformHelper::transformation2dto3d().

ob_transformation_3d_to_2d()

OB_EXPORT bool ob_transformation_3d_to_2d	(	const OBPoint3f	source_point3f,
		const OBCameraIntrinsic	target_intrinsic,
		const OBCameraDistortion	target_distortion,
		OBExtrinsic	extrinsic,
		OBPoint2f *	target_point2f,
		ob_error **	error )

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

Parameters

[in]	source_point3f	Source 3d point value
[in]	target_intrinsic	Target intrinsic parameters
[in]	target_distortion	Target distortion parameters
[in]	extrinsic	Transformation matrix from source to target
[out]	target_point2f	Target 2d point value
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

bool Transform result

Referenced by ob::CoordinateTransformHelper::transformation3dto2d().

ob_transformation_2d_to_2d()

OB_EXPORT bool ob_transformation_2d_to_2d	(	const OBPoint2f	source_point2f,
		const float	source_depth_pixel_value,
		const OBCameraIntrinsic	source_intrinsic,
		const OBCameraDistortion	source_distortion,
		const OBCameraIntrinsic	target_intrinsic,
		const OBCameraDistortion	target_distortion,
		OBExtrinsic	extrinsic,
		OBPoint2f *	target_point2f,
		ob_error **	error )

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

Parameters

[in]	source_intrinsic	Source intrinsic parameters
[in]	source_distortion	Source distortion parameters
[in]	source_point2f	Source 2d point value
[in]	source_depth_pixel_value	The depth of sourcePoint2f in millimeters
[in]	target_intrinsic	Target intrinsic parameters
[in]	target_distortion	Target distortion parameters
[in]	extrinsic	Transformation matrix from source to target
[out]	target_point2f	Target 2d point value
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

bool Transform result

Referenced by ob::CoordinateTransformHelper::transformation2dto2d().

transformation_depth_frame_to_color_camera()

OB_EXPORT 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 )

Referenced by ob::CoordinateTransformHelper::transformationDepthFrameToColorCamera().

transformation_init_xy_tables()

OB_EXPORT 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 )

Referenced by ob::CoordinateTransformHelper::transformationInitXYTables().

transformation_depth_to_pointcloud()

OB_EXPORT void transformation_depth_to_pointcloud	(	ob_xy_tables *	xy_tables,
		const void *	depth_image_data,
		void *	pointcloud_data,
		ob_error **	error )

Referenced by ob::CoordinateTransformHelper::transformationDepthToPointCloud().

transformation_depth_to_rgbd_pointcloud()

OB_EXPORT 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 )

Referenced by ob::CoordinateTransformHelper::transformationDepthToRGBDPointCloud().

ob_calibration_3d_to_3d()

OB_EXPORT 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 )

Referenced by ob::CoordinateTransformHelper::calibration3dTo3d().

ob_calibration_2d_to_3d()

OB_EXPORT 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 )

Referenced by ob::CoordinateTransformHelper::calibration2dTo3d().

ob_calibration_3d_to_2d()

OB_EXPORT 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 )

Referenced by ob::CoordinateTransformHelper::calibration3dTo2d().

ob_calibration_2d_to_2d()

OB_EXPORT 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 )

Referenced by ob::CoordinateTransformHelper::calibration2dTo2d().

ob_save_pointcloud_to_ply()

OB_EXPORT bool ob_save_pointcloud_to_ply	(	const char *	file_name,
		ob_frame *	frame,
		bool	save_binary,
		bool	use_mesh,
		float	mesh_threshold,
		ob_error **	error )

save point cloud to ply file.

Parameters

[in]	file_name	Point cloud save path
[in]	frame	Point cloud frame
[in]	save_binary	Binary or textual,true: binary, false: textual
[in]	use_mesh	Save mesh or not, true: save as mesh, false: not save as mesh
[in]	mesh_threshold	Distance threshold for creating faces in point cloud,default value :50
[out]	error	Pointer to an error object that will be set if an error occurs.

Returns

bool save point cloud result

Referenced by ob::PointCloudHelper::savePointcloudToPly().