k4a_calibration_color_2d_to_depth_2d()

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  )

related

Transform a 2D pixel coordinate from color camera into a 2D pixel coordinate of the depth camera.

Parameters

calibration	Location to read the camera calibration obtained by k4a_device_get_calibration().
source_point2d	The 2D pixel in color camera coordinates.
depth_image	Handle to input depth image.
target_point2d	The 2D pixel in depth camera coordinates.
valid	The output parameter returns a value of 1 if the source_point2d is a valid coordinate in the target_camera coordinate system, and will return 0 if the coordinate is not valid in the calibration model.

Returns

K4A_RESULT_SUCCEEDED if target_point2d 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_point2d are outside of the range of valid calibration and should be ignored.

Remarks

This function represents an alternative to k4a_calibration_2d_to_2d() if the number of pixels that need to be transformed is small. This function searches along an epipolar line in the depth image to find the corresponding depth pixel. If a larger number of pixels need to be transformed, it might be computationally cheaper to call k4a_transformation_depth_image_to_color_camera() to get correspondence depth values for these color pixels, then call the function k4a_calibration_2d_to_2d().

If source_point2d does not map to a valid 2D coordinate in the target_camera coordinate system, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point2d if valid was set to 0.