libfreenect2::vision Namespace Reference

Classes
struct	DepthSearchOptions
	Options for locating a coherent foreground depth sample near a color point. More...

Enumerations
enum	ColorOrder { BGR = 0 , RGB = 1 }
	Channel order for three-channel color output. More...

Functions
bool	convertColorFrame (const Frame *source, ColorOrder order, unsigned char *destination, size_t destination_size)
	Convert a BGRX or RGBX frame to contiguous three-channel BGR or RGB.
bool	buildColorToDepthMap (const Frame *undistorted_depth, const int *depth_to_color, size_t depth_to_color_count, int32_t *color_to_depth, size_t color_pixel_count)
	Reverse a depth-to-color index map, keeping the nearest valid depth on collisions.
int	findDepthPixel (float normalized_x, float normalized_y, const int32_t *color_to_depth, size_t color_pixel_count, size_t color_width, size_t color_height, const Frame *undistorted_depth, const DepthSearchOptions &options)
	Find the depth pixel corresponding to normalized color coordinates.
bool	liftColorPoints (const Registration *registration, const Frame *undistorted_depth, const int32_t *color_to_depth, size_t color_pixel_count, size_t color_width, size_t color_height, const float *normalized_xy, size_t landmark_count, const DepthSearchOptions &options, float *xyz_meters, uint8_t *valid, int32_t *depth_indices)
	Lift normalized color coordinates to metric XYZ points.

Enumeration Type Documentation

ColorOrder

enum ColorOrder

Channel order for three-channel color output.

Enumerator
BGR
RGB

Function Documentation

convertColorFrame()

bool convertColorFrame	(	const Frame *	source,
		ColorOrder	order,
		unsigned char *	destination,
		size_t	destination_size )

Convert a BGRX or RGBX frame to contiguous three-channel BGR or RGB.

Returns

false when an argument, frame format, size, or destination capacity is invalid.

buildColorToDepthMap()

bool buildColorToDepthMap	(	const Frame *	undistorted_depth,
		const int *	depth_to_color,
		size_t	depth_to_color_count,
		int32_t *	color_to_depth,
		size_t	color_pixel_count )

Reverse a depth-to-color index map, keeping the nearest valid depth on collisions.

Missing color pixels are written as -1.

findDepthPixel()

int findDepthPixel	(	float	normalized_x,
		float	normalized_y,
		const int32_t *	color_to_depth,
		size_t	color_pixel_count,
		size_t	color_width,
		size_t	color_height,
		const Frame *	undistorted_depth,
		const DepthSearchOptions &	options )

Find the depth pixel corresponding to normalized color coordinates.

Returns

a linear depth index, or -1 when no valid sample can be selected.

liftColorPoints()

bool liftColorPoints	(	const Registration *	registration,
		const Frame *	undistorted_depth,
		const int32_t *	color_to_depth,
		size_t	color_pixel_count,
		size_t	color_width,
		size_t	color_height,
		const float *	normalized_xy,
		size_t	landmark_count,
		const DepthSearchOptions &	options,
		float *	xyz_meters,
		uint8_t *	valid,
		int32_t *	depth_indices )

Lift normalized color coordinates to metric XYZ points.

normalized_xy contains interleaved x/y pairs. xyz_meters, valid, and depth_indices must have capacity for landmark_count * 3, landmark_count, and landmark_count elements respectively. Individual points without a valid depth sample receive NaN XYZ, validity 0, and index -1. The function returns false only for invalid overall arguments.