Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#include <visp3/core/vpColorDepthConversion.h>
Static Public Member Functions | |
static vpImagePoint | projectColorToDepth (const vpImage< uint16_t > &I_depth, double depth_scale, double depth_min, double depth_max, const vpCameraParameters &depth_intrinsics, const vpCameraParameters &color_intrinsics, const vpHomogeneousMatrix &color_M_depth, const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel) |
static vpImagePoint | projectColorToDepth (const uint16_t *data, double depth_scale, double depth_min, double depth_max, double depth_width, double depth_height, const vpCameraParameters &depth_intrinsics, const vpCameraParameters &color_intrinsics, const vpHomogeneousMatrix &color_M_depth, const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel) |
Definition at line 42 of file vpColorDepthConversion.h.
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Project color image point to depth frame.
[in] | data | : Depth raw values. |
[in] | depth_scale | : Depth scale to convert depth raw values in [m]. If depth raw values in data are in [mm], depth scale should be 0.001. |
[in] | depth_min | : Minimal depth value for correspondance [m]. |
[in] | depth_max | : Maximal depth value for correspondance [m]. |
[in] | depth_width | : Depth image width [pixel]. |
[in] | depth_height | : Depth image height [pixel]. |
[in] | depth_intrinsics | : Intrinsic depth camera parameters. |
[in] | color_intrinsics | : Intrinsic color camera parameters. |
[in] | color_M_depth | : Relationship between color and depth cameras (ie, extrinsic rgbd camera parameters). |
[in] | depth_M_color | : Relationship between depth and color cameras (ie, extrinsic rgbd camera parameters). |
[in] | from_pixel | : Image point expressed into the color camera frame. |
Definition at line 176 of file vpColorDepthConversion.cpp.
References vpImagePoint::get_u(), vpImagePoint::get_v(), vpImagePoint::inSegment(), vpImagePoint::nextInSegment(), and vpMath::sqr().
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Project color image point to depth frame.
[in] | I_depth | : Depth raw image. |
[in] | depth_scale | : Depth scale to convert depth raw values in [m]. If depth raw values in I_depth are in [mm], depth scale should be 0.001. |
[in] | depth_min | : Minimal depth value for correspondance [m]. |
[in] | depth_max | : Maximal depth value for correspondance [m]. |
[in] | depth_intrinsics | : Intrinsic depth camera parameters. |
[in] | color_intrinsics | : Intrinsic color camera parameters. |
[in] | color_M_depth | : Relationship between color and depth cameras (ie, extrinsic rgbd camera parameters). |
[in] | depth_M_color | : Relationship between depth and color cameras (ie, extrinsic rgbd camera parameters). |
[in] | from_pixel | : Image point expressed into the color camera frame. |
Definition at line 153 of file vpColorDepthConversion.cpp.
References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().