OrbbecSDK 2.0.18
OrbbecSDK: Software-Development-Kit for Orbbec 3D Cameras
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Static Public Member Functions | List of all members
ob::CoordinateTransformHelper Class Reference

#include <Utils.hpp>

Static Public Member Functions

static bool transformation3dto3d (const OBPoint3f source_point3f, OBExtrinsic extrinsic, OBPoint3f *target_point3f)
 Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
 
static bool transformation2dto3d (const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic, OBExtrinsic extrinsic, OBPoint3f *target_point3f)
 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 transformation3dto2d (const OBPoint3f source_point3f, const OBCameraIntrinsic target_intrinsic, const OBCameraDistortion target_distortion, OBExtrinsic extrinsic, OBPoint2f *target_point2f)
 Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
 
static bool transformation2dto2d (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)
 Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera.
 
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 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)
 

Detailed Description

Definition at line 20 of file Utils.hpp.

Member Function Documentation

◆ transformation3dto3d()

static bool ob::CoordinateTransformHelper::transformation3dto3d ( const OBPoint3f source_point3f,
OBExtrinsic extrinsic,
OBPoint3f * target_point3f )
inlinestatic

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

Parameters
[in]source_point3fSource 3d point value
[in]extrinsicTransformation matrix from source to target
[out]target_point3fTarget 3d point value
Returns
bool Transform result

Definition at line 31 of file Utils.hpp.

◆ transformation2dto3d()

static bool ob::CoordinateTransformHelper::transformation2dto3d ( const OBPoint2f source_point2f,
const float source_depth_pixel_value,
const OBCameraIntrinsic source_intrinsic,
OBExtrinsic extrinsic,
OBPoint3f * target_point3f )
inlinestatic

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_intrinsicSource intrinsic parameters
[in]source_point2fSource 2d point value
[in]source_depth_pixel_valueThe depth of sourcePoint2f in millimeters
[in]extrinsicTransformation matrix from source to target
[out]target_point3fTarget 3d point value
Returns
bool Transform result

Definition at line 49 of file Utils.hpp.

◆ transformation3dto2d()

static bool ob::CoordinateTransformHelper::transformation3dto2d ( const OBPoint3f source_point3f,
const OBCameraIntrinsic target_intrinsic,
const OBCameraDistortion target_distortion,
OBExtrinsic extrinsic,
OBPoint2f * target_point2f )
inlinestatic

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

Parameters
[in]source_point3fSource 3d point value
[in]target_intrinsicTarget intrinsic parameters
[in]target_distortionTarget distortion parameters
[in]extrinsicTransformation matrix from source to target
[out]target_point2fTarget 2d point value
Returns
bool Transform result

Definition at line 68 of file Utils.hpp.

◆ transformation2dto2d()

static bool ob::CoordinateTransformHelper::transformation2dto2d ( 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 )
inlinestatic

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_intrinsicSource intrinsic parameters
[in]source_distortionSource distortion parameters
[in]source_point2fSource 2d point value
[in]source_depth_pixel_valueThe depth of sourcePoint2f in millimeters
[in]target_intrinsicTarget intrinsic parameters
[in]target_distortionTarget distortion parameters
[in]extrinsicTransformation matrix from source to target
[out]target_point2fTarget 2d point value
Returns
bool Transform result

Definition at line 90 of file Utils.hpp.

◆ calibration3dTo3d()

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

Definition at line 102 of file Utils.hpp.

◆ calibration2dTo3d()

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

Definition at line 110 of file Utils.hpp.

◆ calibration3dTo2d()

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

Definition at line 118 of file Utils.hpp.

◆ calibration2dTo2d()

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

Definition at line 126 of file Utils.hpp.

◆ 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 )
inlinestatic

Definition at line 134 of file Utils.hpp.

◆ transformationInitXYTables()

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

Definition at line 146 of file Utils.hpp.

◆ transformationDepthToPointCloud()

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

Definition at line 154 of file Utils.hpp.

◆ transformationDepthToRGBDPointCloud()

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

Definition at line 160 of file Utils.hpp.

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