k4a_calibration_3d_to_3d()

k4a_result_t k4a_calibration_3d_to_3d ( const k4a_calibration_t *  calibration, const k4a_float3_t *  source_point3d_mm, const k4a_calibration_type_t  source_camera, const k4a_calibration_type_t  target_camera, k4a_float3_t *  target_point3d_mm  )

related

Transform a 3D point of a source coordinate system into a 3D point of the target coordinate system.

Parameters

calibration	Location to read the camera calibration data.
source_point3d_mm	The 3D coordinates in millimeters representing a point in source_camera.
source_camera	The current camera.
target_camera	The target camera.
target_point3d_mm	Pointer to the output where the new 3D coordinates of the input point in the coordinate space of target_camera is stored in millimeters.

Returns

K4A_RESULT_SUCCEEDED if target_point3d_mm was successfully written. K4A_RESULT_FAILED if calibration contained invalid transformation parameters.

Remarks

This function is used to transform 3D points between depth and color camera coordinate systems. The function uses the extrinsic camera calibration. It computes the output via multiplication with a precomputed matrix encoding a 3D rotation and a 3D translation. If source_camera and target_camera are the same, then target_point3d_mm will be identical to source_point3d_mm.