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Azure-Kinect-Sensor-SDK
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User/axduan/add mm in parameter name (#159) 

* Add mm in the parameter name to bring more clarity

* Small change

* remove _in from the name

* Add unsaved file

* addressing comments

* update doxgen

* clang format
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Andrew Duan 2019-03-19 14:00:52 -07:00 коммит произвёл GitHub
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54
include/k4a/k4a.h
Просмотреть файл

@ -1412,7 +1412,7 @@ K4A_EXPORT k4a_result_t k4a_calibration_get_from_raw(char *raw_calibration,
* \param calibration
* Location to read the camera calibration data.
*
* \param source_point3d
* \param source_point3d_mm
* The 3D coordinates in millimeters representing a point in \p source_camera.
*
* \param source_camera
@ -1421,19 +1421,19 @@ K4A_EXPORT k4a_result_t k4a_calibration_get_from_raw(char *raw_calibration,
* \param target_camera
* The target camera.
*
* \param target_point3d
* \param target_point3d_mm
* Pointer to the output where the new 3D coordinates of the input point in the coordinate space of \p target_camera is
* stored.
* stored in millimeters.
*
* \returns
* ::K4A_RESULT_SUCCEEDED if \p target_point3d was successfully written. ::K4A_RESULT_FAILED if \p calibration
* ::K4A_RESULT_SUCCEEDED if \p target_point3d_mm was successfully written. ::K4A_RESULT_FAILED if \p calibration
* contained invalid transformation parameters.
*
* \remarks
* This function is used to transform 3D points between depth and color camera coordinate systems. The function uses the
* extrinsic camera calibration. It computes the output via multiplication with a precomputed matrix encoding a 3D
* rotation and a 3D translation. If \p source_camera and \p target_camera are the same, then \p target_point3d will be
* identical to \p source_point3d.
* rotation and a 3D translation. If \p source_camera and \p target_camera are the same, then \p target_point3d_mm will
* be identical to \p source_point3d_mm.
*
* \relates k4a_calibration_t
*
@ -1446,10 +1446,10 @@ K4A_EXPORT k4a_result_t k4a_calibration_get_from_raw(char *raw_calibration,
* \endxmlonly
*/
K4A_EXPORT k4a_result_t k4a_calibration_3d_to_3d(const k4a_calibration_t *calibration,
const k4a_float3_t *source_point3d,
const k4a_float3_t *source_point3d_mm,
const k4a_calibration_type_t source_camera,
const k4a_calibration_type_t target_camera,
k4a_float3_t *target_point3d);
k4a_float3_t *target_point3d_mm);
/** Transform a 2D pixel coordinate with an associated depth value of the source camera into a 3D point of the target
* coordinate system.
@ -1460,7 +1460,7 @@ K4A_EXPORT k4a_result_t k4a_calibration_3d_to_3d(const k4a_calibration_t *calibr
* \param source_point2d
* The 2D pixel in \p source_camera coordinates.
*
* \param source_depth
* \param source_depth_mm
* The depth of \p source_point2d in millimeters.
*
* \param source_camera
@ -1469,23 +1469,23 @@ K4A_EXPORT k4a_result_t k4a_calibration_3d_to_3d(const k4a_calibration_t *calibr
* \param target_camera
* The target camera.
*
* \param target_point3d
* \param target_point3d_mm
* Pointer to the output where the 3D coordinates of the input pixel in the coordinate system of \p target_camera is
* stored.
* stored in millimeters.
*
* \param valid
* The output parameter returns a value of 1 if the \p source_point2d is a valid coordinate, and will return 0 if
* the coordinate is not valid in the calibration model.
*
* \returns
* ::K4A_RESULT_SUCCEEDED if \p target_point3d was successfully written. ::K4A_RESULT_FAILED if \p calibration
* ::K4A_RESULT_SUCCEEDED if \p target_point3d_mm was successfully written. ::K4A_RESULT_FAILED if \p calibration
* contained invalid transformation parameters. If the function returns ::K4A_RESULT_SUCCEEDED, but \p valid is 0,
* the transformation was computed, but the results in \p target_point3d are outside of the range of valid calibration
* and should be ignored.
* the transformation was computed, but the results in \p target_point3d_mm are outside of the range of valid
* calibration and should be ignored.
*
* \remarks
* This function applies the intrinsic calibration of \p source_camera to compute the 3D ray from the focal point of the
* camera through pixel \p source_point2d. The 3D point on this ray is then found using \p source_depth. If \p
* camera through pixel \p source_point2d. The 3D point on this ray is then found using \p source_depth_mm. If \p
* target_camera is different from \p source_camera, the 3D point is transformed to \p target_camera using
* k4a_calibration_3d_to_3d(). In practice, \p source_camera and \p target_camera will often be identical. In this
* case, no 3D to 3D transformation is applied.
@ -1493,7 +1493,7 @@ K4A_EXPORT k4a_result_t k4a_calibration_3d_to_3d(const k4a_calibration_t *calibr
* \remarks
* If \p source_point2d is not considered as valid pixel coordinate
* according to the intrinsic camera model, \p valid is set to 0. If it is valid, \p valid will be set to 1. The user
* should not use the value of \p target_point3d if \p valid was set to 0.
* should not use the value of \p target_point3d_mm if \p valid was set to 0.
*
* \relates k4a_calibration_t
*
@ -1507,10 +1507,10 @@ K4A_EXPORT k4a_result_t k4a_calibration_3d_to_3d(const k4a_calibration_t *calibr
*/
K4A_EXPORT k4a_result_t k4a_calibration_2d_to_3d(const k4a_calibration_t *calibration,
const k4a_float2_t *source_point2d,
const float source_depth,
const float source_depth_mm,
const k4a_calibration_type_t source_camera,
const k4a_calibration_type_t target_camera,
k4a_float3_t *target_point3d,
k4a_float3_t *target_point3d_mm,
int *valid);
/** Transform a 3D point of a source coordinate system into a 2D pixel coordinate of the target camera.
@ -1518,7 +1518,7 @@ K4A_EXPORT k4a_result_t k4a_calibration_2d_to_3d(const k4a_calibration_t *calibr
* \param calibration
* Location to read the camera calibration obtained by k4a_device_get_calibration().
*
* \param source_point3d
* \param source_point3d_mm
* The 3D coordinates in millimeters representing a point in \p source_camera
*
* \param source_camera
@ -1531,7 +1531,7 @@ K4A_EXPORT k4a_result_t k4a_calibration_2d_to_3d(const k4a_calibration_t *calibr
* Pointer to the output where the 2D pixel in \p target_camera coordinates is stored.
*
* \param valid
* The output parameter returns a value of 1 if the \p source_point3d is a valid coordinate in the \p target_camera
* The output parameter returns a value of 1 if the \p source_point3d_mm is a valid coordinate in the \p target_camera
* coordinate system, and will return 0 if the coordinate is not valid in the calibration model.
*
* \returns
@ -1541,15 +1541,15 @@ K4A_EXPORT k4a_result_t k4a_calibration_2d_to_3d(const k4a_calibration_t *calibr
* and should be ignored.
*
* \remarks
* If \p target_camera is different from \p source_camera, \p source_point3d is transformed to \p target_camera using
* If \p target_camera is different from \p source_camera, \p source_point3d_mm is transformed to \p target_camera using
* k4a_calibration_3d_to_3d(). In practice, \p source_camera and \p target_camera will often be identical. In this
* case, no 3D to 3D transformation is applied. The 3D point in the coordinate system of \p target_camera is then
* projected onto the image plane using the intrinsic calibration of \p target_camera.
*
* \remarks
* If \p source_point3d does not map to a valid 2D coordinate in the \p target_camera coordinate system, \p valid is set
* to 0. If it is valid, \p valid will be set to 1. The user should not use the value of \p target_point2d if \p valid
* was set to 0.
* If \p source_point3d_mm does not map to a valid 2D coordinate in the \p target_camera coordinate system, \p valid is
* set to 0. If it is valid, \p valid will be set to 1. The user should not use the value of \p target_point2d if \p
* valid was set to 0.
*
* \relates k4a_calibration_t
*
@ -1562,7 +1562,7 @@ K4A_EXPORT k4a_result_t k4a_calibration_2d_to_3d(const k4a_calibration_t *calibr
* \endxmlonly
*/
K4A_EXPORT k4a_result_t k4a_calibration_3d_to_2d(const k4a_calibration_t *calibration,
const k4a_float3_t *source_point3d,
const k4a_float3_t *source_point3d_mm,
const k4a_calibration_type_t source_camera,
const k4a_calibration_type_t target_camera,
k4a_float2_t *target_point2d,
@ -1577,7 +1577,7 @@ K4A_EXPORT k4a_result_t k4a_calibration_3d_to_2d(const k4a_calibration_t *calibr
* \param source_point2d
* The 2D pixel in \p source_camera coordinates.
*
* \param source_depth
* \param source_depth_mm
* The depth of \p source_point2d in millimeters.
*
* \param source_camera
@ -1625,7 +1625,7 @@ K4A_EXPORT k4a_result_t k4a_calibration_3d_to_2d(const k4a_calibration_t *calibr
*/
K4A_EXPORT k4a_result_t k4a_calibration_2d_to_2d(const k4a_calibration_t *calibration,
const k4a_float2_t *source_point2d,
const float source_depth,
const float source_depth_mm,
const k4a_calibration_type_t source_camera,
const k4a_calibration_type_t target_camera,
k4a_float2_t *target_point2d,

20
src/sdk/k4a.c
Просмотреть файл

@ -879,48 +879,48 @@ k4a_result_t k4a_calibration_get_from_raw(char *raw_calibration,
}
k4a_result_t k4a_calibration_3d_to_3d(const k4a_calibration_t *calibration,
const k4a_float3_t *source_point3d,
const k4a_float3_t *source_point3d_mm,
const k4a_calibration_type_t source_camera,
const k4a_calibration_type_t target_camera,
k4a_float3_t *target_point3d)
k4a_float3_t *target_point3d_mm)
{
return TRACE_CALL(
transformation_3d_to_3d(calibration, source_point3d->v, source_camera, target_camera, target_point3d->v));
transformation_3d_to_3d(calibration, source_point3d_mm->v, source_camera, target_camera, target_point3d_mm->v));
}
k4a_result_t k4a_calibration_2d_to_3d(const k4a_calibration_t *calibration,
const k4a_float2_t *source_point2d,
const float source_depth,
const float source_depth_mm,
const k4a_calibration_type_t source_camera,
const k4a_calibration_type_t target_camera,
k4a_float3_t *target_point3d,
k4a_float3_t *target_point3d_mm,
int *valid)
{
return TRACE_CALL(transformation_2d_to_3d(
calibration, source_point2d->v, source_depth, source_camera, target_camera, target_point3d->v, valid));
calibration, source_point2d->v, source_depth_mm, source_camera, target_camera, target_point3d_mm->v, valid));
}
k4a_result_t k4a_calibration_3d_to_2d(const k4a_calibration_t *calibration,
const k4a_float3_t *source_point3d,
const k4a_float3_t *source_point3d_mm,
const k4a_calibration_type_t source_camera,
const k4a_calibration_type_t target_camera,
k4a_float2_t *target_point2d,
int *valid)
{
return TRACE_CALL(transformation_3d_to_2d(
calibration, source_point3d->v, source_camera, target_camera, target_point2d->v, valid));
calibration, source_point3d_mm->v, source_camera, target_camera, target_point2d->v, valid));
}
k4a_result_t k4a_calibration_2d_to_2d(const k4a_calibration_t *calibration,
const k4a_float2_t *source_point2d,
const float source_depth,
const float source_depth_mm,
const k4a_calibration_type_t source_camera,
const k4a_calibration_type_t target_camera,
k4a_float2_t *target_point2d,
int *valid)
{
return TRACE_CALL(transformation_2d_to_2d(
calibration, source_point2d->v, source_depth, source_camera, target_camera, target_point2d->v, valid));
calibration, source_point2d->v, source_depth_mm, source_camera, target_camera, target_point2d->v, valid));
}
k4a_transformation_t k4a_transformation_create(const k4a_calibration_t *calibration)