ColorDepthConversion¶

class ColorDepthConversion¶

Bases: pybind11_object

Methods

__init__
projectColorToDepth	Project color image point to depth frame.

Inherited Methods

Operators

__doc__
__init__
__module__

Attributes

__annotations__

__init__(*args, **kwargs)¶

static projectColorToDepth(I_depth: visp._visp.core.ImageUInt16, depth_scale: float, depth_min: float, depth_max: float, depth_intrinsics: visp._visp.core.CameraParameters, color_intrinsics: visp._visp.core.CameraParameters, color_M_depth: visp._visp.core.HomogeneousMatrix, depth_M_color: visp._visp.core.HomogeneousMatrix, from_pixel: visp._visp.core.ImagePoint) → visp._visp.core.ImagePoint¶

Project color image point to depth frame.

Parameters:

I_depth: visp._visp.core.ImageUInt16¶

Depth raw image.

depth_scale: float¶

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.

depth_min: float¶

Minimal depth value for correspondence [m].

depth_max: float¶

Maximal depth value for correspondence [m].

depth_intrinsics: visp._visp.core.CameraParameters¶

Intrinsic depth camera parameters.

color_intrinsics: visp._visp.core.CameraParameters¶

Intrinsic color camera parameters.

color_M_depth: visp._visp.core.HomogeneousMatrix¶

Relationship between color and depth cameras (ie, extrinsic rgb-d camera parameters).

depth_M_color: visp._visp.core.HomogeneousMatrix¶

Relationship between depth and color cameras (ie, extrinsic rgb-d camera parameters).

from_pixel: visp._visp.core.ImagePoint¶

Image point expressed into the color camera frame.

Returns:

Image point expressed into the depth camera frame.