Azure Kinect Sensor SDK
refs/heads/master
Documentation for https://github.com/Microsoft/AzureKinectSensorSDK


related 
Transform a 2D pixel coordinate with an associated depth value of the source camera into a 3D point of the target coordinate system.
calibration  Location to read the camera calibration obtained by k4a_device_get_calibration(). 
source_point2d  The 2D pixel in source_camera coordinates. 
source_depth_mm  The depth of source_point2d in millimeters. One way to derive the depth value in the color camera geometry is to use the function k4a_transformation_depth_image_to_color_camera(). 
source_camera  The current camera. 
target_camera  The target camera. 
target_point3d_mm  Pointer to the output where the 3D coordinates of the input pixel in the coordinate system of target_camera is stored in millimeters. 
valid  The output parameter returns a value of 1 if the source_point2d is a valid coordinate, and will return 0 if the coordinate is not valid in the calibration model. 
target_point3d_mm
was successfully written. K4A_RESULT_FAILED if calibration
contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid
is 0, the transformation was computed, but the results in target_point3d_mm
are outside of the range of valid calibration and should be ignored.source_camera
to compute the 3D ray from the focal point of the camera through pixel source_point2d
. The 3D point on this ray is then found using source_depth_mm
. If target_camera
is different from source_camera
, the 3D point is transformed to target_camera
using k4a_calibration_3d_to_3d(). In practice, source_camera
and target_camera
will often be identical. In this case, no 3D to 3D transformation is applied.source_point2d
is not considered as valid pixel coordinate according to the intrinsic camera model, valid
is set to 0. If it is valid, valid
will be set to 1. The user should not use the value of target_point3d_mm
if valid
was set to 0.