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Azure Kinect Sensor SDK
refs/heads/master
Documentation for https://github.com/Microsoft/Azure-Kinect-Sensor-SDK
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Azure Kinect Sensor SDK
refs/heads/master
Documentation for https://github.com/Microsoft/Azure-Kinect-Sensor-SDK
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Wrapper for k4a_calibration_t. More...
#include <k4a/k4a.hpp>
Public Member Functions | |
| k4a_float3_t | convert_3d_to_3d (const k4a_float3_t &source_point3d, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera) const |
| Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system. More... | |
| bool | convert_2d_to_3d (const k4a_float2_t &source_point2d, float source_depth, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float3_t *target_point3d) const |
| Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system. More... | |
| bool | convert_3d_to_2d (const k4a_float3_t &source_point3d, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d) const |
| Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera. More... | |
| bool | convert_2d_to_2d (const k4a_float2_t &source_point2d, float source_depth, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d) const |
| Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera Returns false if the point is invalid in the target coordinate system (and therefore target_point2d should not be used) Throws error if calibration contains invalid data. More... | |
| bool | convert_color_2d_to_depth_2d (const k4a_float2_t &source_point2d, const image &depth_image, k4a_float2_t *target_point2d) const |
| Transform a 2D pixel coordinate from color camera into a 2D pixel coordinate of the depth camera. More... | |
Static Public Member Functions | |
| static calibration | get_from_raw (char *raw_calibration, size_t raw_calibration_size, k4a_depth_mode_t target_depth_mode, k4a_color_resolution_t target_color_resolution) |
| Get the camera calibration for a device from a raw calibration blob. More... | |
| static calibration | get_from_raw (uint8_t *raw_calibration, size_t raw_calibration_size, k4a_depth_mode_t target_depth_mode, k4a_color_resolution_t target_color_resolution) |
| Get the camera calibration for a device from a raw calibration blob. More... | |
| static calibration | get_from_raw (std::vector< uint8_t > &raw_calibration, k4a_depth_mode_t target_depth_mode, k4a_color_resolution_t target_color_resolution) |
| Get the camera calibration for a device from a raw calibration blob. More... | |
Additional Inherited Members | |
 Data Fields inherited from k4a_calibration_t | |
| k4a_calibration_camera_t | depth_camera_calibration |
| Depth camera calibration. More... | |
| k4a_calibration_camera_t | color_camera_calibration |
| Color camera calibration. More... | |
| k4a_calibration_extrinsics_t | extrinsics [K4A_CALIBRATION_TYPE_NUM][K4A_CALIBRATION_TYPE_NUM] |
| Extrinsic transformation parameters. More... | |
| k4a_depth_mode_t | depth_mode |
| Depth camera mode for which calibration was obtained. More... | |
| k4a_color_resolution_t | color_resolution |
| Color camera resolution for which calibration was obtained. More... | |
| Related Functions inherited from k4a_calibration_t | |
| 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) |
| Transform a 3D point of a source coordinate system into a 3D point of the target coordinate system. More... | |
| k4a_result_t | k4a_calibration_2d_to_3d (const k4a_calibration_t *calibration, const k4a_float2_t *source_point2d, const float source_depth_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float3_t *target_point3d_mm, int *valid) |
| Transform a 2D pixel coordinate with an associated depth value of the source camera into a 3D point of the target coordinate system. More... | |
| k4a_result_t | k4a_calibration_3d_to_2d (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_float2_t *target_point2d, int *valid) |
| Transform a 3D point of a source coordinate system into a 2D pixel coordinate of the target camera. More... | |
| k4a_result_t | k4a_calibration_2d_to_2d (const k4a_calibration_t *calibration, const k4a_float2_t *source_point2d, const float source_depth_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d, int *valid) |
| Transform a 2D pixel coordinate with an associated depth value of the source camera into a 2D pixel coordinate of the target camera. More... | |
| k4a_result_t | k4a_calibration_color_2d_to_depth_2d (const k4a_calibration_t *calibration, const k4a_float2_t *source_point2d, const k4a_image_t depth_image, k4a_float2_t *target_point2d, int *valid) |
| Transform a 2D pixel coordinate from color camera into a 2D pixel coordinate of the depth camera. More... | |
| k4a_transformation_t | k4a_transformation_create (const k4a_calibration_t *calibration) |
| Get handle to transformation handle. More... | |
Wrapper for k4a_calibration_t.
Provides member functions for k4a_calibration_t.
1.8.14