Visual Servoing Platform version 3.6.0
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vpColorDepthConversion.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Color to Depth conversion.
32 */
33
34#pragma once
35
36#include <visp3/core/vpConfig.h>
37
38// Internal
39#include "vpCameraParameters.h"
40#include "vpImage.h"
41
42class VISP_EXPORT vpColorDepthConversion
43{
44public:
45 static vpImagePoint projectColorToDepth(const vpImage<uint16_t> &I_depth, double depth_scale, double depth_min,
46 double depth_max, const vpCameraParameters &depth_intrinsics,
47 const vpCameraParameters &color_intrinsics,
48 const vpHomogeneousMatrix &color_M_depth,
49 const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel);
50 static vpImagePoint projectColorToDepth(const uint16_t *data, double depth_scale, double depth_min, double depth_max,
51 double depth_width, double depth_height,
52 const vpCameraParameters &depth_intrinsics,
53 const vpCameraParameters &color_intrinsics,
54 const vpHomogeneousMatrix &color_M_depth,
55 const vpHomogeneousMatrix &depth_M_color, const vpImagePoint &from_pixel);
56};
Generic class defining intrinsic camera parameters.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135