| OrbbecSDK 1.10.18 OrbbecSDK: Software-Development-Kit for Orbbec 3D Cameras

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Utils.h
Go to the documentation of this file.
1#pragma once
2
3#ifdef __cplusplus
4 extern "C" {
5#endif
6
7#include "ObTypes.h"
8
21 bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type,
22 const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
23
37 bool ob_calibration_2d_to_3d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
38 const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error);
39
53 bool ob_calibration_2d_to_3d_undistortion(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
54 const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f,
55 ob_error **error);
56
69 bool ob_calibration_3d_to_2d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type,
70 const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error);
71
85 bool ob_calibration_2d_to_2d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value,
86 const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error);
87
99 ob_frame *transformation_depth_frame_to_color_camera(ob_device *device, ob_frame *depth_frame, uint32_t target_color_camera_width,
100 uint32_t target_color_camera_height, ob_error **error);
101
115 bool transformation_init_xy_tables(const ob_calibration_param calibration_param, const ob_sensor_type sensor_type, float *data, uint32_t *data_size,
116 ob_xy_tables *xy_tables, ob_error **error);
117
126 void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error);
127
137 void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data,
138 ob_error **error);
139
140#ifdef __cplusplus
141}
142#endif
ObTypes.h
Provide structs commonly used in the SDK, enumerating constant definitions.
ob_frame
struct CFrameImpl ob_frame
Definition ObTypes.h:63
ob_device
struct DeviceImpl ob_device
Definition ObTypes.h:55
ob_sensor_type
enum OBSensorType ob_sensor_type
transformation_init_xy_tables
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)
Init transformation tables.
ob_calibration_2d_to_2d
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)
Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel c...
transformation_depth_to_pointcloud
void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error)
Transform depth image to point cloud data.
ob_calibration_2d_to_3d
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)
Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point o...
transformation_depth_to_rgbd_pointcloud
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)
Transform depth image to point cloud data.
ob_calibration_3d_to_3d
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)
Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
ob_calibration_2d_to_3d_undistortion
bool ob_calibration_2d_to_3d_undistortion(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)
Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point o...
transformation_depth_frame_to_color_camera
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)
Transforms the depth frame into the geometry of the color camera.
ob_calibration_3d_to_2d
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)
Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
OBCalibrationParam
calibration parameters
Definition ObTypes.h:486
OBPoint2f
2D point structure in the SDK
Definition ObTypes.h:754
OBPoint
3D point structure in the SDK
Definition ObTypes.h:745
OBXYTables
Definition ObTypes.h:759
ob_error
The error class exposed by the SDK, users can get detailed error information according to the error.
Definition ObTypes.h:151