public static extern k4a_result_t k4a_calibration_3d_to_2d(
[In] ref Calibration calibration,
ref Vector3 source_point3d,
Calibration.DeviceType source_camera,
Calibration.DeviceType target_camera,
out Vector2 target_point2d,
out bool valid);
public ArrayImage <Short3> DepthImageToPointCloud(Image depth, Calibration.DeviceType camera = Calibration.DeviceType.Depth)
{
ArrayImage <Short3> pointCloud = new ArrayImage <Short3>(ImageFormat.Custom,
depth.WidthPixels, depth.HeightPixels);
DepthImageToPointCloud(depth, pointCloud, camera);
return(pointCloud);
}
public void DepthImageToPointCloud(Image depth, Image pointCloud, Calibration.DeviceType camera = Calibration.DeviceType.Depth)
{
lock (this)
{
if (disposedValue)
{
throw new ObjectDisposedException(nameof(Transformation));
}
// Create a new reference to the Image objects so that they cannot be disposed while
// we are performing the transformation
using (Image depthReference = depth.Reference())
using (Image pointCloudReference = pointCloud.Reference())
{
AzureKinectException.ThrowIfNotSuccess(NativeMethods.k4a_transformation_depth_image_to_point_cloud(
handle,
depthReference.DangerousGetHandle(),
camera,
pointCloudReference.DangerousGetHandle()));
}
}
}
public static extern k4a_result_t k4a_transformation_depth_image_to_point_cloud(
k4a_transformation_t transformation_handle,
k4a_image_t depth_image,
Calibration.DeviceType camera,
k4a_image_t xyz_image);
