mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-03 19:47:46 +08:00
Update: Fixed the issue of point cloud distortion in femto bolt
This commit is contained in:
Joe Dong
@@ -6,133 +6,155 @@
|
||||
#pragma once
|
||||
|
||||
#include "Types.hpp"
|
||||
#include "Frame.hpp"
|
||||
|
||||
namespace ob {
|
||||
class Device;
|
||||
|
||||
class OB_EXTENSION_API CoordinateTransformHelper {
|
||||
public:
|
||||
/**
|
||||
* @brief Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
|
||||
*
|
||||
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint3f Source 3d point value
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint3f Target 3d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
|
||||
public:
|
||||
/**
|
||||
* @brief Transform a 3d point of a source coordinate system into a 3d point of the target
|
||||
* coordinate system.
|
||||
*
|
||||
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint3f Source 3d point value
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint3f Target 3d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration3dTo3d(const OBCalibrationParam calibrationParam,
|
||||
const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
|
||||
|
||||
/**
|
||||
* @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 calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint2f Source 2d point value
|
||||
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint3f Target 3d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
|
||||
/**
|
||||
* @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 calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint2f Source 2d point value
|
||||
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint3f Target 3d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration2dTo3d(const OBCalibrationParam calibrationParam,
|
||||
const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
|
||||
|
||||
/**
|
||||
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
|
||||
* @brief This function uses undistortion, which may result in longer processing time.
|
||||
*
|
||||
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint2f Source 2d point value
|
||||
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint3f Target 3d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
|
||||
/**
|
||||
* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into
|
||||
* a 3d point of the target coordinate system.
|
||||
* @brief This function uses undistortion, which may result in longer processing time.
|
||||
*
|
||||
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint2f Source 2d point value
|
||||
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint3f Target 3d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam,
|
||||
const OBPoint2f sourcePoint2f,
|
||||
const float sourceDepthPixelValue,
|
||||
const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType,
|
||||
OBPoint3f *targetPoint3f);
|
||||
|
||||
/**
|
||||
* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
|
||||
*
|
||||
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint3f Source 3d point value
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint2f Target 2d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
|
||||
/**
|
||||
* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the
|
||||
* target camera.
|
||||
*
|
||||
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint3f Source 3d point value
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint2f Target 2d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration3dTo2d(const OBCalibrationParam calibrationParam,
|
||||
const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
|
||||
|
||||
/**
|
||||
* @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 calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint2f Source 2d point value
|
||||
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint2f Target 2d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
|
||||
/**
|
||||
* @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 calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sourcePoint2f Source 2d point value
|
||||
* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
|
||||
* @param sourceSensorType Source sensor type
|
||||
* @param targetSensorType Target sensor type
|
||||
* @param targetPoint2f Target 2d point value
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool calibration2dTo2d(const OBCalibrationParam calibrationParam,
|
||||
const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
|
||||
const OBSensorType sourceSensorType,
|
||||
const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
|
||||
|
||||
/**
|
||||
* @brief Transforms the depth frame into the geometry of the color camera.
|
||||
*
|
||||
* @param device Device handle
|
||||
* @param depthFrame Input depth frame
|
||||
* @param targetColorCameraWidth Target color camera width
|
||||
* @param targetColorCameraHeight Target color camera height
|
||||
*
|
||||
* @return std::shared_ptr<ob::Frame> Transformed depth frame
|
||||
*/
|
||||
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);
|
||||
/**
|
||||
* @brief Transforms the depth frame into the geometry of the color camera.
|
||||
*
|
||||
* @param device Device handle
|
||||
* @param depthFrame Input depth frame
|
||||
* @param targetColorCameraWidth Target color camera width
|
||||
* @param targetColorCameraHeight Target color camera height
|
||||
*
|
||||
* @return std::shared_ptr<ob::Frame> Transformed depth frame
|
||||
*/
|
||||
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);
|
||||
|
||||
/**
|
||||
* @brief Init transformation tables
|
||||
*
|
||||
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sensorType sensor type
|
||||
* @param data input data,needs to be allocated externally.During initialization, the external allocation size is 'dataSize', for example, dataSize = 1920 *
|
||||
* 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
|
||||
* @param dataSize input data size
|
||||
* @param xyTables output xy tables
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
|
||||
OBXYTables *xyTables);
|
||||
/**
|
||||
* @brief Init transformation tables
|
||||
*
|
||||
* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
|
||||
* @param sensorType sensor type
|
||||
* @param data input data,needs to be allocated externally.During initialization, the external
|
||||
* allocation size is 'dataSize', for example, dataSize = 1920 * 1080 * 2*sizeof(float) (1920 *
|
||||
* 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one
|
||||
* for y-coordinate).
|
||||
* @param dataSize input data size
|
||||
* @param xyTables output xy tables
|
||||
*
|
||||
* @return bool Transform result
|
||||
*/
|
||||
static bool transformationInitXYTables(const OBCalibrationParam calibrationParam,
|
||||
const OBSensorType sensorType, float *data,
|
||||
uint32_t *dataSize, OBXYTables *xyTables);
|
||||
|
||||
/**
|
||||
* @brief Transform depth image to point cloud data
|
||||
*
|
||||
* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
|
||||
* @param depthImageData input depth image data
|
||||
* @param pointCloudData output point cloud data
|
||||
*
|
||||
*/
|
||||
static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData);
|
||||
/**
|
||||
* @brief Transform depth image to point cloud data
|
||||
*
|
||||
* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
|
||||
* @param depthImageData input depth image data
|
||||
* @param pointCloudData output point cloud data
|
||||
*
|
||||
*/
|
||||
static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData,
|
||||
void *pointCloudData);
|
||||
|
||||
/**
|
||||
* @brief Transform depth image to RGBD point cloud data
|
||||
*
|
||||
* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
|
||||
* @param depthImageData input depth image data
|
||||
* @param colorImageData input color image data (only RGB888 support)
|
||||
* @param pointCloudData output RGBD point cloud data
|
||||
*
|
||||
*/
|
||||
static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData);
|
||||
/**
|
||||
* @brief Transform depth image to RGBD point cloud data
|
||||
*
|
||||
* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
|
||||
* @param depthImageData input depth image data
|
||||
* @param colorImageData input color image data (only RGB888 support)
|
||||
* @param pointCloudData output RGBD point cloud data
|
||||
*
|
||||
*/
|
||||
static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData,
|
||||
const void *colorImageData, void *pointCloudData);
|
||||
};
|
||||
} // namespace ob
|
||||
|
||||
Reference in New Issue
Block a user