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47 lines
1.8 KiB
47 lines
1.8 KiB
/* License: Apache 2.0. See LICENSE file in root directory.
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Copyright(c) 2015 Intel Corporation. All Rights Reserved. */
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#ifndef LIBREALSENSE_RSUTIL2_H
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#define LIBREALSENSE_RSUTIL2_H
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#include <stdlib.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include <float.h>
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#include "h/rs_types.h"
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#include "h/rs_sensor.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Given a point in 3D space, compute the corresponding pixel coordinates in an image with no distortion or forward distortion coefficients produced by the same camera */
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void rs2_project_point_to_pixel(float pixel[2], const rs2_intrinsics* intrin, const float point[3]);
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/* Given pixel coordinates and depth in an image with no distortion or inverse distortion coefficients, compute the corresponding point in 3D space relative to the same camera */
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void rs2_deproject_pixel_to_point(float point[3], const rs2_intrinsics* intrin, const float pixel[2], float depth);
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/* Transform 3D coordinates relative to one sensor to 3D coordinates relative to another viewpoint */
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void rs2_transform_point_to_point(float to_point[3], const rs2_extrinsics* extrin, const float from_point[3]);
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/* Calculate horizontal and vertical feild of view, based on video intrinsics */
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void rs2_fov(const rs2_intrinsics* intrin, float to_fov[2]);
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/* Find projected pixel with unknown depth search along line. */
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void rs2_project_color_pixel_to_depth_pixel(float to_pixel[2],
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const uint16_t* data, float depth_scale,
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float depth_min, float depth_max,
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const struct rs2_intrinsics* depth_intrin,
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const struct rs2_intrinsics* color_intrin,
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const struct rs2_extrinsics* color_to_depth,
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const struct rs2_extrinsics* depth_to_color,
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const float from_pixel[2]);
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#ifdef __cplusplus
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}
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#endif
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#endif // LIBREALSENSE_RSUTIL2_H
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