mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +08:00
Update: Fixed the issue of point cloud distortion in femto bolt
This commit is contained in:
Joe Dong
@@ -6,133 +6,155 @@
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#pragma once
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#include "Types.hpp"
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#include "Frame.hpp"
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namespace ob {
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class Device;
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class OB_EXTENSION_API CoordinateTransformHelper {
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public:
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/**
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* @brief Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint3f Source 3d point value
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint3f Target 3d point value
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*
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* @return bool Transform result
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*/
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static bool calibration3dTo3d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
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const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
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public:
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/**
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* @brief Transform a 3d point of a source coordinate system into a 3d point of the target
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* coordinate system.
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint3f Source 3d point value
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint3f Target 3d point value
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*
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* @return bool Transform result
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*/
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static bool calibration3dTo3d(const OBCalibrationParam calibrationParam,
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const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
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const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
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/**
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* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint2f Source 2d point value
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* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint3f Target 3d point value
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*
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* @return bool Transform result
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*/
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static bool calibration2dTo3d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
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const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
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/**
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* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into
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* a 3d point of the target coordinate system.
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint2f Source 2d point value
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* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint3f Target 3d point value
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*
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* @return bool Transform result
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*/
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static bool calibration2dTo3d(const OBCalibrationParam calibrationParam,
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const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
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const OBSensorType sourceSensorType,
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const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
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/**
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* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point of the target coordinate system.
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* @brief This function uses undistortion, which may result in longer processing time.
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint2f Source 2d point value
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* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint3f Target 3d point value
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*
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* @return bool Transform result
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*/
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static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
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const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint3f *targetPoint3f);
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/**
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* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into
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* a 3d point of the target coordinate system.
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* @brief This function uses undistortion, which may result in longer processing time.
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint2f Source 2d point value
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* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint3f Target 3d point value
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*
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* @return bool Transform result
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*/
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static bool calibration2dTo3dUndistortion(const OBCalibrationParam calibrationParam,
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const OBPoint2f sourcePoint2f,
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const float sourceDepthPixelValue,
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const OBSensorType sourceSensorType,
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const OBSensorType targetSensorType,
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OBPoint3f *targetPoint3f);
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/**
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* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint3f Source 3d point value
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint2f Target 2d point value
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*
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* @return bool Transform result
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*/
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static bool calibration3dTo2d(const OBCalibrationParam calibrationParam, const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
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const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
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/**
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* @brief Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the
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* target camera.
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint3f Source 3d point value
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint2f Target 2d point value
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*
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* @return bool Transform result
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*/
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static bool calibration3dTo2d(const OBCalibrationParam calibrationParam,
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const OBPoint3f sourcePoint3f, const OBSensorType sourceSensorType,
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const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
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/**
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* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel coordinate of the target camera
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint2f Source 2d point value
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* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint2f Target 2d point value
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*
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* @return bool Transform result
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*/
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static bool calibration2dTo2d(const OBCalibrationParam calibrationParam, const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
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const OBSensorType sourceSensorType, const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
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/**
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* @brief Transform a 2d pixel coordinate with an associated depth value of the source camera into
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* a 2d pixel coordinate of the target camera
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sourcePoint2f Source 2d point value
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* @param sourceDepthPixelValue The depth of sourcePoint2f in millimeters
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* @param sourceSensorType Source sensor type
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* @param targetSensorType Target sensor type
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* @param targetPoint2f Target 2d point value
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*
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* @return bool Transform result
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*/
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static bool calibration2dTo2d(const OBCalibrationParam calibrationParam,
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const OBPoint2f sourcePoint2f, const float sourceDepthPixelValue,
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const OBSensorType sourceSensorType,
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const OBSensorType targetSensorType, OBPoint2f *targetPoint2f);
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/**
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* @brief Transforms the depth frame into the geometry of the color camera.
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*
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* @param device Device handle
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* @param depthFrame Input depth frame
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* @param targetColorCameraWidth Target color camera width
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* @param targetColorCameraHeight Target color camera height
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*
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* @return std::shared_ptr<ob::Frame> Transformed depth frame
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*/
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static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
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uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
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/**
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* @brief Transforms the depth frame into the geometry of the color camera.
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*
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* @param device Device handle
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* @param depthFrame Input depth frame
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* @param targetColorCameraWidth Target color camera width
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* @param targetColorCameraHeight Target color camera height
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*
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* @return std::shared_ptr<ob::Frame> Transformed depth frame
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*/
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static std::shared_ptr<ob::Frame> transformationDepthFrameToColorCamera(
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std::shared_ptr<ob::Device> device, std::shared_ptr<ob::Frame> depthFrame,
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uint32_t targetColorCameraWidth, uint32_t targetColorCameraHeight);
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/**
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* @brief Init transformation tables
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sensorType sensor type
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* @param data input data,needs to be allocated externally.During initialization, the external allocation size is 'dataSize', for example, dataSize = 1920 *
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* 1080 * 2*sizeof(float) (1920 * 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one for y-coordinate).
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* @param dataSize input data size
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* @param xyTables output xy tables
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*
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* @return bool Transform result
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*/
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static bool transformationInitXYTables(const OBCalibrationParam calibrationParam, const OBSensorType sensorType, float *data, uint32_t *dataSize,
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OBXYTables *xyTables);
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/**
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* @brief Init transformation tables
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*
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* @param calibrationParam Device calibration param,see pipeline::getCalibrationParam
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* @param sensorType sensor type
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* @param data input data,needs to be allocated externally.During initialization, the external
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* allocation size is 'dataSize', for example, dataSize = 1920 * 1080 * 2*sizeof(float) (1920 *
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* 1080 represents the image resolution, and 2 represents two LUTs, one for x-coordinate and one
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* for y-coordinate).
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* @param dataSize input data size
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* @param xyTables output xy tables
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*
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* @return bool Transform result
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*/
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static bool transformationInitXYTables(const OBCalibrationParam calibrationParam,
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const OBSensorType sensorType, float *data,
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uint32_t *dataSize, OBXYTables *xyTables);
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/**
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* @brief Transform depth image to point cloud data
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*
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* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
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* @param depthImageData input depth image data
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* @param pointCloudData output point cloud data
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*
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*/
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static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData, void *pointCloudData);
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/**
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* @brief Transform depth image to point cloud data
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*
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* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
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* @param depthImageData input depth image data
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* @param pointCloudData output point cloud data
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*
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*/
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static void transformationDepthToPointCloud(OBXYTables *xyTables, const void *depthImageData,
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void *pointCloudData);
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/**
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* @brief Transform depth image to RGBD point cloud data
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*
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* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
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* @param depthImageData input depth image data
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* @param colorImageData input color image data (only RGB888 support)
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* @param pointCloudData output RGBD point cloud data
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*
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*/
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static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData, const void *colorImageData, void *pointCloudData);
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/**
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* @brief Transform depth image to RGBD point cloud data
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*
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* @param xyTables input xy tables,see CoordinateTransformHelper::transformationInitXYTables
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* @param depthImageData input depth image data
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* @param colorImageData input color image data (only RGB888 support)
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* @param pointCloudData output RGBD point cloud data
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*
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*/
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static void transformationDepthToRGBDPointCloud(OBXYTables *xyTables, const void *depthImageData,
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const void *colorImageData, void *pointCloudData);
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};
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} // namespace ob
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