Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
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rsutil.h
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1/* License: Apache 2.0. See LICENSE file in root directory.
2 Copyright(c) 2015 Intel Corporation. All Rights Reserved. */
3
4#ifndef LIBREALSENSE_RSUTIL2_H
5#define LIBREALSENSE_RSUTIL2_H
6
7#include <stdlib.h>
8#include <stdbool.h>
9#include <stdint.h>
10#include <math.h>
11#include <float.h>
12#include "h/rs_types.h"
13#include "h/rs_sensor.h"
14
15#ifdef __cplusplus
16extern "C" {
17#endif
18
19/* 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 */
20void rs2_project_point_to_pixel(float pixel[2], const rs2_intrinsics* intrin, const float point[3]);
21
22/* 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 */
23void rs2_deproject_pixel_to_point(float point[3], const rs2_intrinsics* intrin, const float pixel[2], float depth);
24
25/* Transform 3D coordinates relative to one sensor to 3D coordinates relative to another viewpoint */
26void rs2_transform_point_to_point(float to_point[3], const rs2_extrinsics* extrin, const float from_point[3]);
27
28/* Calculate horizontal and vertical feild of view, based on video intrinsics */
29void rs2_fov(const rs2_intrinsics* intrin, float to_fov[2]);
30
31/* Find projected pixel with unknown depth search along line. */
33 const uint16_t* data, float depth_scale,
34 float depth_min, float depth_max,
35 const struct rs2_intrinsics* depth_intrin,
36 const struct rs2_intrinsics* color_intrin,
37 const struct rs2_extrinsics* color_to_depth,
38 const struct rs2_extrinsics* depth_to_color,
39 const float from_pixel[2]);
40
41
42#ifdef __cplusplus
43}
44#endif
45
46#endif // LIBREALSENSE_RSUTIL2_H
Exposes RealSense sensor functionality for C compilers.
Exposes RealSense structs.
void rs2_deproject_pixel_to_point(float point[3], const rs2_intrinsics *intrin, const float pixel[2], float depth)
void rs2_transform_point_to_point(float to_point[3], const rs2_extrinsics *extrin, const float from_point[3])
void rs2_project_point_to_pixel(float pixel[2], const rs2_intrinsics *intrin, const float point[3])
void rs2_project_color_pixel_to_depth_pixel(float to_pixel[2], const uint16_t *data, float depth_scale, float depth_min, float depth_max, const struct rs2_intrinsics *depth_intrin, const struct rs2_intrinsics *color_intrin, const struct rs2_extrinsics *color_to_depth, const struct rs2_extrinsics *depth_to_color, const float from_pixel[2])
void rs2_fov(const rs2_intrinsics *intrin, float to_fov[2])
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.
Definition rs_sensor.h:103
Video stream intrinsics.
Definition rs_types.h:61