k4a_transformation_depth_image_to_color_camera()

k4a_result_t k4a_transformation_depth_image_to_color_camera ( k4a_transformation_t  transformation_handle, const k4a_image_t  depth_image, k4a_image_t  transformed_depth_image  )

related

Transforms the depth map into the geometry of the color camera.

Parameters

transformation_handle	Transformation handle.
depth_image	Handle to input depth image.
transformed_depth_image	Handle to output transformed depth image.

Remarks

This produces a depth image for which each pixel matches the corresponding pixel coordinates of the color camera.

depth_image and transformed_depth_image must be of format K4A_IMAGE_FORMAT_DEPTH16.

transformed_depth_image must have a width and height matching the width and height of the color camera in the mode specified by the k4a_calibration_t used to create the transformation_handle with k4a_transformation_create().

The contents transformed_depth_image will be filled with the depth values derived from depth_image in the color camera's coordinate space.

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

Returns

K4A_RESULT_SUCCEEDED if transformed_depth_image was successfully written and K4A_RESULT_FAILED otherwise.