TYCamport3
3
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Coordinate Conversion API. More...
Go to the source code of this file.
Classes | |
struct | TY_PIXEL_DESC |
struct | TY_PIXEL_COLOR_DESC |
Macros | |
#define | TYMAP_CHECKRET(f, bufToFree) |
Typedefs | |
typedef struct TY_PIXEL_DESC | TY_PIXEL_DESC |
typedef struct TY_PIXEL_COLOR_DESC | TY_PIXEL_COLOR_DESC |
Functions | |
TY_CAPI | TYInvertExtrinsic (const TY_CAMERA_EXTRINSIC *orgExtrinsic, TY_CAMERA_EXTRINSIC *invExtrinsic) |
Calculate 4x4 extrinsic matrix's inverse matrix. More... | |
TY_CAPI | TYMapDepthToPoint3d (const TY_CAMERA_CALIB_INFO *src_calib, uint32_t depthW, uint32_t depthH, const TY_PIXEL_DESC *depthPixels, uint32_t count, TY_VECT_3F *point3d, float f_scale_unit=1.0f) |
Map pixels on depth image to 3D points. More... | |
TY_CAPI | TYMapPoint3dToDepth (const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, TY_PIXEL_DESC *depth, float f_scale_unit=1.0f) |
Map 3D points to pixels on depth image. Reverse operation of TYMapDepthToPoint3d. More... | |
TY_CAPI | TYMapDepthImageToPoint3d (const TY_CAMERA_CALIB_INFO *src_calib, int32_t imageW, int32_t imageH, const uint16_t *depth, TY_VECT_3F *point3d, float f_scale_unit=1.0f) |
Map depth image to 3D points. 0 depth pixels maps to (NAN, NAN, NAN). More... | |
TY_CAPI | TYMapPoint3dToDepthImage (const TY_CAMERA_CALIB_INFO *dst_calib, const TY_VECT_3F *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, uint16_t *depth, float f_target_scale=1.0f) |
Map 3D points to depth image. (NAN, NAN, NAN) will be skipped. More... | |
TY_CAPI | TYMapPoint3dToPoint3d (const TY_CAMERA_EXTRINSIC *extrinsic, const TY_VECT_3F *point3dFrom, int32_t count, TY_VECT_3F *point3dTo) |
Map 3D points to another coordinate. More... | |
Coordinate Conversion API.
Definition in file TYCoordinateMapper.h.
#define TYMAP_CHECKRET | ( | f, | |
bufToFree | |||
) |
Definition at line 268 of file TYCoordinateMapper.h.
TY_CAPI TYInvertExtrinsic | ( | const TY_CAMERA_EXTRINSIC * | orgExtrinsic, |
TY_CAMERA_EXTRINSIC * | invExtrinsic | ||
) |
Calculate 4x4 extrinsic matrix's inverse matrix.
[in] | orgExtrinsic | Input extrinsic matrix. |
[out] | invExtrinsic | Inverse matrix. |
TY_STATUS_OK | Succeed. |
TY_STATUS_ERROR | Calculation failed. |
TY_CAPI TYMapDepthImageToPoint3d | ( | const TY_CAMERA_CALIB_INFO * | src_calib, |
int32_t | imageW, | ||
int32_t | imageH, | ||
const uint16_t * | depth, | ||
TY_VECT_3F * | point3d, | ||
float | f_scale_unit = 1.0f |
||
) |
Map depth image to 3D points. 0 depth pixels maps to (NAN, NAN, NAN).
[in] | src_calib | Depth image's calibration data. |
[in] | depthW | Width of depth image. |
[in] | depthH | Height of depth image. |
[in] | depth | Depth image. |
[out] | point3d | Output point3D image. |
TY_STATUS_OK | Succeed. |
TY_CAPI TYMapDepthToPoint3d | ( | const TY_CAMERA_CALIB_INFO * | src_calib, |
uint32_t | depthW, | ||
uint32_t | depthH, | ||
const TY_PIXEL_DESC * | depthPixels, | ||
uint32_t | count, | ||
TY_VECT_3F * | point3d, | ||
float | f_scale_unit = 1.0f |
||
) |
Map pixels on depth image to 3D points.
[in] | src_calib | Depth image's calibration data. |
[in] | depthW | Width of depth image. |
[in] | depthH | Height of depth image. |
[in] | depthPixels | Pixels on depth image. |
[in] | count | Number of depth pixels. |
[out] | point3d | Output point3D. |
TY_STATUS_OK | Succeed. |
TY_CAPI TYMapPoint3dToDepth | ( | const TY_CAMERA_CALIB_INFO * | dst_calib, |
const TY_VECT_3F * | point3d, | ||
uint32_t | count, | ||
uint32_t | depthW, | ||
uint32_t | depthH, | ||
TY_PIXEL_DESC * | depth, | ||
float | f_scale_unit = 1.0f |
||
) |
Map 3D points to pixels on depth image. Reverse operation of TYMapDepthToPoint3d.
[in] | dst_calib | Target depth image's calibration data. |
[in] | point3d | Input 3D points. |
[in] | count | Number of points. |
[in] | depthW | Width of target depth image. |
[in] | depthH | Height of target depth image. |
[out] | depth | Output depth pixels. |
TY_STATUS_OK | Succeed. |
TY_CAPI TYMapPoint3dToDepthImage | ( | const TY_CAMERA_CALIB_INFO * | dst_calib, |
const TY_VECT_3F * | point3d, | ||
uint32_t | count, | ||
uint32_t | depthW, | ||
uint32_t | depthH, | ||
uint16_t * | depth, | ||
float | f_target_scale = 1.0f |
||
) |
Map 3D points to depth image. (NAN, NAN, NAN) will be skipped.
[in] | dst_calib | Target depth image's calibration data. |
[in] | point3d | Input 3D points. |
[in] | count | Number of points. |
[in] | depthW | Width of target depth image. |
[in] | depthH | Height of target depth image. |
[in,out] | depth | Depth image buffer. |
TY_STATUS_OK | Succeed. |
TY_CAPI TYMapPoint3dToPoint3d | ( | const TY_CAMERA_EXTRINSIC * | extrinsic, |
const TY_VECT_3F * | point3dFrom, | ||
int32_t | count, | ||
TY_VECT_3F * | point3dTo | ||
) |
Map 3D points to another coordinate.
[in] | extrinsic | Extrinsic matrix. |
[in] | point3dFrom | Source 3D points. |
[in] | count | Number of source 3D points. |
[out] | point3dTo | Target 3D points. |
TY_STATUS_OK | Succeed. |