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VideoProsessing/OrbbecSDK_v2.5.5/include/libobsensor/hpp/Utils.hpp Normal file
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// Copyright (c) Orbbec Inc. All Rights Reserved.
// Licensed under the MIT License.
/**
* @file Utils.hpp
* @brief The SDK utils class
*
*/
#pragma once
#include "libobsensor/h/Utils.h"
#include "Device.hpp"
#include "Types.hpp"
#include "Frame.hpp"
#include <memory>
namespace ob {
class Device;
class CoordinateTransformHelper {
public:
/**
* @brief Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
*
* @param[in] source_point3f Source 3d point value
* @param[in] extrinsic Transformation matrix from source to target
* @param[out] target_point3f Target 3d point value
*
* @return bool Transform result
*/
static bool transformation3dto3d(const OBPoint3f source_point3f, OBExtrinsic extrinsic, OBPoint3f *target_point3f) {
ob_error *error = NULL;
bool result = ob_transformation_3d_to_3d(source_point3f, extrinsic, target_point3f, &error);
Error::handle(&error);
return result;
}
/**
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
*
* @param[in] source_intrinsic Source intrinsic parameters
* @param[in] source_point2f Source 2d point value
* @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
* @param[in] extrinsic Transformation matrix from source to target
* @param[out] target_point3f Target 3d point value
*
* @return bool Transform result
*/
static bool transformation2dto3d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
OBExtrinsic extrinsic, OBPoint3f *target_point3f) {
ob_error *error = NULL;
bool result = ob_transformation_2d_to_3d(source_point2f, source_depth_pixel_value, source_intrinsic, extrinsic, target_point3f, &error);
Error::handle(&error);
return result;
}
/**
* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
*
* @param[in] source_point3f Source 3d point value
* @param[in] target_intrinsic Target intrinsic parameters
* @param[in] target_distortion Target distortion parameters
* @param[in] extrinsic Transformation matrix from source to target
* @param[out] target_point2f Target 2d point value
*
* @return bool Transform result
*/
static bool transformation3dto2d(const OBPoint3f source_point3f, const OBCameraIntrinsic target_intrinsic, const OBCameraDistortion target_distortion,
OBExtrinsic extrinsic, OBPoint2f *target_point2f) {
ob_error *error = NULL;
bool result = ob_transformation_3d_to_2d(source_point3f, target_intrinsic, target_distortion, extrinsic, target_point2f, &error);
Error::handle(&error);
return result;
}
/**
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera
*
* @param[in] source_intrinsic Source intrinsic parameters
* @param[in] source_distortion Source distortion parameters
* @param[in] source_point2f Source 2d point value
* @param[in] source_depth_pixel_value The depth of sourcePoint2f in millimeters
* @param[in] target_intrinsic Target intrinsic parameters
* @param[in] target_distortion Target distortion parameters
* @param[in] extrinsic Transformation matrix from source to target
* @param[out] target_point2f Target 2d point value
*
* @return bool Transform result
*/
static bool transformation2dto2d(const OBPoint2f source_point2f, const float source_depth_pixel_value, const OBCameraIntrinsic source_intrinsic,
const OBCameraDistortion source_distortion, const OBCameraIntrinsic target_intrinsic,
const OBCameraDistortion target_distortion, OBExtrinsic extrinsic, OBPoint2f *target_point2f) {
ob_error *error = NULL;
bool result = ob_transformation_2d_to_2d(source_point2f, source_depth_pixel_value, source_intrinsic, source_distortion, target_intrinsic,
target_distortion, extrinsic, target_point2f, &error);
Error::handle(&error);
return result;
}
public:
// The following interfaces are deprecated and are retained here for compatibility purposes.
static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
const OBSensorType targetSensorType, OBPoint3f *targetPoint3f) {
ob_error *error = NULL;
bool result = ob_calibration_3d_to_3d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint3f, &error);
Error::handle(&error);
return result;
}
static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f) {
ob_error *error = NULL;
bool result =
ob_calibration_2d_to_3d(calibrationParam, sourcePoint2f, sourceDepthPixelValue, sourceSensorType, targetSensorType, targetPoint3f, &error);
Error::handle(&error);
return result;
}
static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
const OBSensorType targetSensorType, OBPoint2f *targetPoint2f) {
ob_error *error = NULL;
bool result = ob_calibration_3d_to_2d(calibrationParam, sourcePoint3f, sourceSensorType, targetSensorType, targetPoint2f, &error);
Error::handle(&error);
return result;
}
static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f) {
ob_error *error = NULL;
bool result =
ob_calibration_2d_to_2d(calibrationParam, sourcePoint2f, sourceDepthPixelValue, sourceSensorType, targetSensorType, targetPoint2f, &error);
Error::handle(&error);
return result;
}
static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight) {
ob_error *error = NULL;
// unsafe operation, need to cast const to non-const
auto unConstImpl = const_cast<ob_frame *>(depthFrame->getImpl());
auto result = transformation_depth_frame_to_color_camera(device->getImpl(), unConstImpl, targetColorCameraWidth, targetColorCameraHeight, &error);
Error::handle(&error);
return std::make_shared<ob::Frame>(result);
}
static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
OBXYTables *xyTables) {
ob_error *error = NULL;
bool result = transformation_init_xy_tables(calibrationParam, sensorType, data, dataSize, xyTables, &error);
Error::handle(&error);
return result;
}
static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData) {
ob_error *error = NULL;
transformation_depth_to_pointcloud(xyTables, depthImageData, pointCloudData, &error);
Error::handle(&error, false);
}
static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData) {
ob_error *error = NULL;
transformation_depth_to_rgbd_pointcloud(xyTables, depthImageData, colorImageData, pointCloudData, &error);
Error::handle(&error, false);
}
};
class PointCloudHelper {
public:
/**
* @brief save point cloud to ply file.
*
* @param[in] fileName Point cloud save path
* @param[in] frame Point cloud frame
* @param[in] saveBinary Binary or textual,true: binary, false: textual
* @param[in] useMesh Save mesh or not, true: save as mesh, false: not save as mesh
* @param[in] meshThreshold Distance threshold for creating faces in point cloud,default value :50
*
* @return bool save point cloud result
*/
static bool savePointcloudToPly(const char *fileName, std::shared_ptr<ob::Frame> frame, bool saveBinary, bool useMesh, float meshThreshold) {
ob_error *error = NULL;
auto unConstImpl = const_cast<ob_frame *>(frame->getImpl());
bool result = ob_save_pointcloud_to_ply(fileName, unConstImpl, saveBinary, useMesh, meshThreshold, &error);
Error::handle(&error, false);
return result;
}
};
} // namespace ob