Visual Servoing Platform  version 3.5.1 under development (2022-11-29)
vpColorDepthConversion.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2022 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Color to Depth conversion.
33  *
34  * Authors:
35  * Julien Dufour
36  *
37  *****************************************************************************/
38 
39 #pragma once
40 
41 #include <visp3/core/vpConfig.h>
42 
43 // Internal
44 #include "vpCameraParameters.h"
45 #include "vpImage.h"
46 
47 class VISP_EXPORT vpColorDepthConversion
48 {
49 public:
50  static vpImagePoint projectColorToDepth(const vpImage<uint16_t> &I_depth, double depth_scale, double depth_min,
51  double depth_max, const vpCameraParameters &depth_intrinsics,
52  const vpCameraParameters &color_intrinsics,
53  const vpHomogeneousMatrix &color_M_depth,
54  const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel);
55  static vpImagePoint projectColorToDepth(const uint16_t *data, double depth_scale, double depth_min, double depth_max,
56  double depth_width, double depth_height,
57  const vpCameraParameters &depth_intrinsics,
58  const vpCameraParameters &color_intrinsics,
59  const vpHomogeneousMatrix &color_M_depth,
60  const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel);
61 };
Generic class defining intrinsic camera parameters.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
Definition of the vpImage class member functions.
Definition: vpImage.h:73