231 lines
12 KiB
C
231 lines
12 KiB
C
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/** \file transformation.h
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* Copyright (c) Microsoft Corporation. All rights reserved.
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* Licensed under the MIT License.
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* Kinect For Azure SDK.
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*/
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#ifndef K4ATRANSFORMATION_H
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#define K4ATRANSFORMATION_H
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#include <k4a/k4atypes.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef struct _k4a_camera_calibration_mode_info_t
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{
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unsigned int calibration_image_binned_resolution[2];
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int crop_offset[2];
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unsigned int output_image_resolution[2];
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} k4a_camera_calibration_mode_info_t;
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typedef struct _k4a_transformation_image_descriptor_t
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{
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int width_pixels; // image width in pixels
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int height_pixels; // image height in pixels
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int stride_bytes; // image stride in bytes
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k4a_image_format_t format; // image format
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} k4a_transformation_image_descriptor_t;
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typedef struct _k4a_transformation_xy_tables_t
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{
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float *x_table; // table used to compute X coordinate
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float *y_table; // table used to compute Y coordinate
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int width; // width of x and y tables
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int height; // height of x and y tables
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} k4a_transformation_xy_tables_t;
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typedef struct _k4a_transformation_pinhole_t
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{
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float px;
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float py;
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float fx;
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float fy;
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int width;
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int height;
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} k4a_transformation_pinhole_t;
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typedef struct _k4a_transform_engine_calibration_t
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{
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k4a_calibration_camera_t depth_camera_calibration; // depth camera calibration
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k4a_calibration_camera_t color_camera_calibration; // color camera calibration
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k4a_calibration_extrinsics_t depth_camera_to_color_camera_extrinsics; // depth to color extrinsics
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k4a_calibration_extrinsics_t color_camera_to_depth_camera_extrinsics; // color to depth extrinsics
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k4a_transformation_xy_tables_t depth_camera_xy_tables; // depth camera xy tables
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} k4a_transform_engine_calibration_t;
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k4a_result_t transformation_get_mode_specific_calibration(const k4a_calibration_camera_t *depth_camera_calibration,
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const k4a_calibration_camera_t *color_camera_calibration,
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const k4a_calibration_extrinsics_t *gyro_extrinsics,
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const k4a_calibration_extrinsics_t *accel_extrinsics,
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const k4a_depth_mode_t depth_mode,
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const k4a_color_resolution_t color_resolution,
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k4a_calibration_t *calibration);
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k4a_result_t transformation_3d_to_3d(const k4a_calibration_t *calibration,
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const float source_point3d[3],
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const k4a_calibration_type_t source_camera,
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const k4a_calibration_type_t target_camera,
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float target_point3d[3]);
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k4a_result_t transformation_2d_to_3d(const k4a_calibration_t *calibration,
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const float source_point2d[2],
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const float source_depth,
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const k4a_calibration_type_t source_camera,
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const k4a_calibration_type_t target_camera,
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float target_point3d[3],
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int *valid);
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k4a_result_t transformation_3d_to_2d(const k4a_calibration_t *calibration,
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const float source_point3d[3],
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const k4a_calibration_type_t source_camera,
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const k4a_calibration_type_t target_camera,
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float target_point2d[2],
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int *valid);
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k4a_result_t transformation_2d_to_2d(const k4a_calibration_t *calibration,
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const float source_point2d[2],
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const float source_depth,
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const k4a_calibration_type_t source_camera,
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const k4a_calibration_type_t target_camera,
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float target_point2d[2],
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int *valid);
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k4a_result_t transformation_color_2d_to_depth_2d(const k4a_calibration_t *calibration,
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const float source_point2d[2],
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const k4a_image_t depth_image,
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float target_point2d[2],
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int *valid);
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k4a_transformation_t transformation_create(const k4a_calibration_t *calibration, bool gpu_optimization);
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void transformation_destroy(k4a_transformation_t transformation_handle);
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k4a_buffer_result_t transformation_depth_image_to_color_camera_validate_parameters(
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const k4a_calibration_t *calibration,
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const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
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const uint8_t *depth_image_data,
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const k4a_transformation_image_descriptor_t *depth_image_descriptor,
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const uint8_t *custom_image_data,
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const k4a_transformation_image_descriptor_t *custom_image_descriptor,
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uint8_t *transformed_depth_image_data,
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k4a_transformation_image_descriptor_t *transformed_depth_image_descriptor,
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uint8_t *transformed_custom_image_data,
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k4a_transformation_image_descriptor_t *transformed_custom_image_descriptor);
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k4a_buffer_result_t transformation_depth_image_to_color_camera_internal(
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const k4a_calibration_t *calibration,
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const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
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const uint8_t *depth_image_data,
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const k4a_transformation_image_descriptor_t *depth_image_descriptor,
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const uint8_t *custom_image_data,
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const k4a_transformation_image_descriptor_t *custom_image_descriptor,
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uint8_t *transformed_depth_image_data,
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k4a_transformation_image_descriptor_t *transformed_depth_image_descriptor,
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uint8_t *transformed_custom_image_data,
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k4a_transformation_image_descriptor_t *transformed_custom_image_descriptor,
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k4a_transformation_interpolation_type_t interpolation_type,
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uint32_t invalid_custom_value);
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k4a_result_t transformation_depth_image_to_color_camera_custom(
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k4a_transformation_t transformation_handle,
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const uint8_t *depth_image_data,
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const k4a_transformation_image_descriptor_t *depth_image_descriptor,
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const uint8_t *custom_image_data,
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const k4a_transformation_image_descriptor_t *custom_image_descriptor,
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uint8_t *transformed_depth_image_data,
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k4a_transformation_image_descriptor_t *transformed_depth_image_descriptor,
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uint8_t *transformed_custom_image_data,
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k4a_transformation_image_descriptor_t *transformed_custom_image_descriptor,
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k4a_transformation_interpolation_type_t interpolation_type,
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uint32_t invalid_custom_value);
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k4a_buffer_result_t transformation_color_image_to_depth_camera_validate_parameters(
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const k4a_calibration_t *calibration,
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const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
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const uint8_t *depth_image_data,
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const k4a_transformation_image_descriptor_t *depth_image_descriptor,
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const uint8_t *color_image_data,
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const k4a_transformation_image_descriptor_t *color_image_descriptor,
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uint8_t *transformed_color_image_data,
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k4a_transformation_image_descriptor_t *transformed_color_image_descriptor);
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k4a_buffer_result_t transformation_color_image_to_depth_camera_internal(
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const k4a_calibration_t *calibration,
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const k4a_transformation_xy_tables_t *xy_tables_depth_camera,
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const uint8_t *depth_image_data,
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const k4a_transformation_image_descriptor_t *depth_image_descriptor,
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const uint8_t *color_image_data,
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const k4a_transformation_image_descriptor_t *color_image_descriptor,
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uint8_t *transformed_color_image_data,
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k4a_transformation_image_descriptor_t *transformed_color_image_descriptor);
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k4a_result_t
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transformation_color_image_to_depth_camera(k4a_transformation_t transformation_handle,
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const uint8_t *depth_image_data,
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const k4a_transformation_image_descriptor_t *depth_image_descriptor,
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const uint8_t *color_image_data,
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const k4a_transformation_image_descriptor_t *color_image_descriptor,
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uint8_t *transformed_color_image_data,
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k4a_transformation_image_descriptor_t *transformed_color_image_descriptor);
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k4a_buffer_result_t
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transformation_depth_image_to_point_cloud_internal(k4a_transformation_xy_tables_t *xy_tables,
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const uint8_t *depth_image_data,
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const k4a_transformation_image_descriptor_t *depth_image_descriptor,
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uint8_t *xyz_image_data,
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k4a_transformation_image_descriptor_t *xyz_image_descriptor);
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k4a_result_t
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transformation_depth_image_to_point_cloud(k4a_transformation_t transformation_handle,
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const uint8_t *depth_image_data,
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const k4a_transformation_image_descriptor_t *depth_image_descriptor,
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const k4a_calibration_type_t camera,
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uint8_t *xyz_image_data,
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k4a_transformation_image_descriptor_t *xyz_image_descriptor);
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// Mode specific calibration
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k4a_result_t
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transformation_get_mode_specific_depth_camera_calibration(const k4a_calibration_camera_t *raw_camera_calibration,
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const k4a_depth_mode_t depth_mode,
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k4a_calibration_camera_t *mode_specific_camera_calibration);
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k4a_result_t
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transformation_get_mode_specific_color_camera_calibration(const k4a_calibration_camera_t *raw_camera_calibration,
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const k4a_color_resolution_t color_resolution,
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k4a_calibration_camera_t *mode_specific_camera_calibration);
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k4a_result_t
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transformation_get_mode_specific_camera_calibration(const k4a_calibration_camera_t *raw_camera_calibration,
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const k4a_camera_calibration_mode_info_t *mode_info,
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k4a_calibration_camera_t *mode_specific_camera_calibration,
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bool pixelized_zero_centered_output);
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// Intrinsic transformations
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k4a_result_t transformation_unproject(const k4a_calibration_camera_t *camera_calibration,
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const float point2d[2],
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const float depth,
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float point3d[3],
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int *valid);
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k4a_result_t transformation_project(const k4a_calibration_camera_t *camera_calibration,
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const float point3d[3],
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float point2d[2],
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int *valid);
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// Extrinsic transformations
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k4a_result_t transformation_get_extrinsic_transformation(const k4a_calibration_extrinsics_t *source_camera_calibration,
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const k4a_calibration_extrinsics_t *target_camera_calibration,
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k4a_calibration_extrinsics_t *source_to_target);
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k4a_result_t transformation_apply_extrinsic_transformation(const k4a_calibration_extrinsics_t *source_to_target,
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const float source_point3d[3],
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float target_point3d[3]);
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#ifdef __cplusplus
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}
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#endif
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#endif /* K4ATRANSFORMATION_H */
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