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 42 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 correspondence [m].
[in]	depth_max	: Maximal depth value for correspondence [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 rgb-d camera parameters).
[in]	depth_M_color	: Relationship between depth and color cameras (ie, extrinsic rgb-d 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 177 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 correspondence [m].
[in]	depth_max	: Maximal depth value for correspondence [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 rgb-d camera parameters).
[in]	depth_M_color	: Relationship between depth and color cameras (ie, extrinsic rgb-d 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 151 of file vpColorDepthConversion.cpp.

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