k4a_transformation_depth_image_to_point_cloud()

k4a_result_t k4a_transformation_depth_image_to_point_cloud ( k4a_transformation_t  transformation_handle, const k4a_image_t  depth_image, const k4a_calibration_type_t  camera, k4a_image_t  xyz_image  )

related

Transforms the depth image into 3 planar images representing X, Y and Z-coordinates of corresponding 3D points.

Parameters

transformation_handle	Transformation handle.
depth_image	Handle to input depth image.
camera	Geometry in which depth map was computed.
xyz_image	Handle to output xyz image.

Remarks

depth_image must be of format K4A_IMAGE_FORMAT_DEPTH16.

The camera parameter tells the function what the perspective of the depth_image is. If the depth_image was captured directly from the depth camera, the value should be K4A_CALIBRATION_TYPE_DEPTH. If the depth_image is the result of a transformation into the color camera's coordinate space using k4a_transformation_depth_image_to_color_camera(), the value should be K4A_CALIBRATION_TYPE_COLOR.

The format of xyz_image must be K4A_IMAGE_FORMAT_CUSTOM. The width and height of xyz_image must match the width and height of depth_image. xyz_image must have a stride in bytes of at least 6 times its width in pixels.

Each pixel of the xyz_image consists of three int16_t values, totaling 6 bytes. The three int16_t values are the X, Y, and Z values of the point.

xyz_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().

Returns

K4A_RESULT_SUCCEEDED if xyz_image was successfully written and K4A_RESULT_FAILED otherwise.