Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
vpColorDepthConversion Class Reference

#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)
 

Detailed Description

Definition at line 47 of file vpColorDepthConversion.h.

Member Function Documentation

◆ projectColorToDepth() [1/2]

vpImagePoint vpColorDepthConversion::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 
)
static

Project color image point to depth frame.

Parameters
[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.
Returns
Image point expressed into the depth camera frame.

Definition at line 176 of file vpColorDepthConversion.cpp.

References vpImagePoint::get_u(), vpImagePoint::get_v(), vpImagePoint::inSegment(), vpImagePoint::nextInSegment(), and vpMath::sqr().

◆ projectColorToDepth() [2/2]

vpImagePoint vpColorDepthConversion::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

Project color image point to depth frame.

Parameters
[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.
Returns
Image point expressed into the depth camera frame.
Examples
tutorial-pose-from-planar-object.cpp.

Definition at line 153 of file vpColorDepthConversion.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().