vpColorDepthConversion Class Reference

#include <vpColorDepthConversion.h>

Static Public Member Functions
static vpImagePoint	projectColorToDepth (const vpImage< uint16_t > &I_depth, const double &depth_scale, const double &depth_min, const double &depth_max, const vpCameraParameters &depth_intrinsics, const vpCameraParameters &color_intrinsics, const vpHomogeneousMatrix &color_M_depth, const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel)
static vpImagePoint	projectColorToDepth (const uint16_t *data, const double &depth_scale, const double &depth_min, const double &depth_max, const double &depth_width, const double &depth_height, const vpCameraParameters &depth_intrinsics, const vpCameraParameters &color_intrinsics, const vpHomogeneousMatrix &color_M_depth, const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel)
static vpImagePoint	projectColorToDepth (const vpImage< float > &I_depth, const double &depth_min, const double &depth_max, const vpCameraParameters &depth_intrinsics, const vpCameraParameters &color_intrinsics, const vpHomogeneousMatrix &color_M_depth, const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel)
static vpImagePoint	projectColorToDepth (const float *data, const double &depth_min, const double &depth_max, const double &depth_width, const double &depth_height, const vpCameraParameters &depth_intrinsics, const vpCameraParameters &color_intrinsics, const vpHomogeneousMatrix &color_M_depth, const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel)

Detailed Description

Class that permits to project a color image into a depth frame.

Tutorials & Examples

Tutorials
If you are interested in learning how to use this class, you may have a look at:

• Tutorial: Planar object pose estimation using RGB-D data.

Definition at line 54 of file vpColorDepthConversion.h.

Member Function Documentation

projectColorToDepth() [1/4]

vpImagePoint vpColorDepthConversion::projectColorToDepth ( const float * data, const double & depth_min, const double & depth_max, const double & depth_width, const double & depth_height, const vpCameraParameters & depth_intrinsics, const vpCameraParameters & color_intrinsics, const vpHomogeneousMatrix & color_M_depth, const vpHomogeneousMatrix & depth_M_color, const vpImagePoint & from_pixel )

static

Project color image point to depth frame.

Parameters

[in]	data	: Depth map.
[in]	depth_min	: Minimal depth value for correspondence [m].
[in]	depth_max	: Maximal depth value for correspondence [m].
[in]	depth_width	: Depth image width [pixel].
[in]	depth_height	: Depth image height [pixel].
[in]	depth_intrinsics	: Intrinsic depth camera parameters.
[in]	color_intrinsics	: Intrinsic color camera parameters.
[in]	color_M_depth	: Relationship between color and depth cameras (ie, extrinsic rgb-d camera parameters).
[in]	depth_M_color	: Relationship between depth and color cameras (ie, extrinsic rgb-d camera parameters).
[in]	from_pixel	: Image point expressed into the color camera frame.

Returns

Image point expressed into the depth camera frame.

Definition at line 368 of file vpColorDepthConversion.cpp.

projectColorToDepth() [2/4]

vpImagePoint vpColorDepthConversion::projectColorToDepth ( const uint16_t * data, const double & depth_scale, const double & depth_min, const double & depth_max, const double & depth_width, const double & depth_height, const vpCameraParameters & depth_intrinsics, const vpCameraParameters & color_intrinsics, const vpHomogeneousMatrix & color_M_depth, const vpHomogeneousMatrix & depth_M_color, const vpImagePoint & from_pixel )

static

Project color image point to depth frame.

Parameters

[in]	data	: Depth raw values.
[in]	depth_scale	: Depth scale to convert depth raw values in [m]. If depth raw values in data are in [mm], depth scale should be 0.001.
[in]	depth_min	: Minimal depth value for correspondence [m].
[in]	depth_max	: Maximal depth value for correspondence [m].
[in]	depth_width	: Depth image width [pixel].
[in]	depth_height	: Depth image height [pixel].
[in]	depth_intrinsics	: Intrinsic depth camera parameters.
[in]	color_intrinsics	: Intrinsic color camera parameters.
[in]	color_M_depth	: Relationship between color and depth cameras (ie, extrinsic rgb-d camera parameters).
[in]	depth_M_color	: Relationship between depth and color cameras (ie, extrinsic rgb-d camera parameters).
[in]	from_pixel	: Image point expressed into the color camera frame.

Returns

Image point expressed into the depth camera frame.

Definition at line 316 of file vpColorDepthConversion.cpp.

projectColorToDepth() [3/4]

vpImagePoint vpColorDepthConversion::projectColorToDepth ( const vpImage< float > & I_depth, const double & depth_min, const double & depth_max, const vpCameraParameters & depth_intrinsics, const vpCameraParameters & color_intrinsics, const vpHomogeneousMatrix & color_M_depth, const vpHomogeneousMatrix & depth_M_color, const vpImagePoint & from_pixel )

static

Project color image point to depth frame.

Parameters

[in]	I_depth	: Depth map image.
[in]	depth_min	: Minimal depth value for correspondence [m].
[in]	depth_max	: Maximal depth value for correspondence [m].
[in]	depth_intrinsics	: Intrinsic depth camera parameters.
[in]	color_intrinsics	: Intrinsic color camera parameters.
[in]	color_M_depth	: Relationship between color and depth cameras (ie, extrinsic rgb-d camera parameters).
[in]	depth_M_color	: Relationship between depth and color cameras (ie, extrinsic rgb-d camera parameters).
[in]	from_pixel	: Image point expressed into the color camera frame.

Returns

Image point expressed into the depth camera frame.

Definition at line 344 of file vpColorDepthConversion.cpp.

References projectColorToDepth().

projectColorToDepth() [4/4]

BEGIN_VISP_NAMESPACE vpImagePoint vpColorDepthConversion::projectColorToDepth ( const vpImage< uint16_t > & I_depth, const double & depth_scale, const double & depth_min, const double & depth_max, const vpCameraParameters & depth_intrinsics, const vpCameraParameters & color_intrinsics, const vpHomogeneousMatrix & color_M_depth, const vpHomogeneousMatrix & depth_M_color, const vpImagePoint & from_pixel )

static

Project color image point to depth frame.

Parameters

[in]	I_depth	: Depth raw image.
[in]	depth_scale	: Depth scale to convert depth raw values in [m]. If depth raw values in I_depth are in [mm], depth scale should be 0.001.
[in]	depth_min	: Minimal depth value for correspondence [m].
[in]	depth_max	: Maximal depth value for correspondence [m].
[in]	depth_intrinsics	: Intrinsic depth camera parameters.
[in]	color_intrinsics	: Intrinsic color camera parameters.
[in]	color_M_depth	: Relationship between color and depth cameras (ie, extrinsic rgb-d camera parameters).
[in]	depth_M_color	: Relationship between depth and color cameras (ie, extrinsic rgb-d camera parameters).
[in]	from_pixel	: Image point expressed into the color camera frame.

Returns

Image point expressed into the depth camera frame.

Examples

tutorial-pose-from-planar-object.cpp.

Definition at line 290 of file vpColorDepthConversion.cpp.

References projectColorToDepth().

Referenced by projectColorToDepth(), and projectColorToDepth().