public static bool Transformation2dTo3d(Calibration calibration, float[] sourcePoint2d, float sourceDepth,
CalibrationType sourceCamera, CalibrationType targetCamera, ref float[] targetPoint3d, ref int valid)
{
bool succeeded = false;
if (sourceCamera == CalibrationType.Depth)
{
succeeded = IntrinsicTransformation.Unproject(calibration.DepthCameraCalibration, sourcePoint2d, sourceDepth, ref targetPoint3d, ref valid);
}
else if (sourceCamera == CalibrationType.Color)
{
succeeded = IntrinsicTransformation.Unproject(calibration.ColorCameraCalibration, sourcePoint2d, sourceDepth, ref targetPoint3d, ref valid);
}
if (!succeeded)
{
return(false);
}
if (sourceCamera == targetCamera)
{
return(true);
}
else
{
return(Transformation3dTo3d(calibration, targetPoint3d, sourceCamera, targetCamera, ref targetPoint3d));;
}
}
public static bool Transformation3dTo2d(Calibration calibration, float[] sourcePoint3d,
CalibrationType sourceCamera, CalibrationType targetCamera, ref float[] targetPoint2d, ref int valid)
{
float[] targetPoint3d = new float[3];
if (sourceCamera == targetCamera)
{
targetPoint3d[0] = sourcePoint3d[0];
targetPoint3d[1] = sourcePoint3d[1];
targetPoint3d[2] = sourcePoint3d[2];
}
else
{
bool succeeded = Transformation3dTo3d(calibration, sourcePoint3d, sourceCamera, targetCamera, ref targetPoint3d);
if (!succeeded)
{
return(false);
}
}
if (targetCamera == CalibrationType.Depth)
{
return(IntrinsicTransformation.Project(calibration.DepthCameraCalibration, targetPoint3d, ref targetPoint2d, ref valid));
}
else if (targetCamera == CalibrationType.Color)
{
return(IntrinsicTransformation.Project(calibration.ColorCameraCalibration, targetPoint3d, ref targetPoint2d, ref valid));
}
return(true);
}