Go to the documentation of this file.00001
00002
00003
00004 #pragma once
00005 #ifndef LIBREALSENSE_IMAGE_H
00006 #define LIBREALSENSE_IMAGE_H
00007
00008 #include "types.h"
00009
00010 namespace rsimpl
00011 {
00012
00013 size_t get_image_size (int width, int height, rs_format format);
00014 int get_image_bpp (rs_format format);
00015 void deproject_z (float * points, const rs_intrinsics & z_intrin, const uint16_t * z_pixels, float z_scale);
00016 void deproject_disparity (float * points, const rs_intrinsics & disparity_intrin, const uint16_t * disparity_pixels, float disparity_scale);
00017
00018 void align_z_to_other (byte * z_aligned_to_other, const uint16_t * z_pixels, float z_scale, const rs_intrinsics & z_intrin,
00019 const rs_extrinsics & z_to_other, const rs_intrinsics & other_intrin);
00020 void align_disparity_to_other (byte * disparity_aligned_to_other, const uint16_t * disparity_pixels, float disparity_scale, const rs_intrinsics & disparity_intrin,
00021 const rs_extrinsics & disparity_to_other, const rs_intrinsics & other_intrin);
00022 void align_other_to_z (byte * other_aligned_to_z, const uint16_t * z_pixels, float z_scale, const rs_intrinsics & z_intrin,
00023 const rs_extrinsics & z_to_other, const rs_intrinsics & other_intrin, const byte * other_pixels, rs_format other_format);
00024 void align_other_to_disparity (byte * other_aligned_to_disparity, const uint16_t * disparity_pixels, float disparity_scale, const rs_intrinsics & disparity_intrin,
00025 const rs_extrinsics & disparity_to_other, const rs_intrinsics & other_intrin, const byte * other_pixels, rs_format other_format);
00026
00027 std::vector<int> compute_rectification_table (const rs_intrinsics & rect_intrin, const rs_extrinsics & rect_to_unrect, const rs_intrinsics & unrect_intrin);
00028 void rectify_image (uint8_t * rect_pixels, const std::vector<int> & rectification_table, const uint8_t * unrect_pixels, rs_format format);
00029
00030 extern const native_pixel_format pf_raw8;
00031 extern const native_pixel_format pf_rw10;
00032 extern const native_pixel_format pf_rw16;
00033 extern const native_pixel_format pf_yuy2;
00034 extern const native_pixel_format pf_y8;
00035 extern const native_pixel_format pf_y8i;
00036 extern const native_pixel_format pf_y16;
00037 extern const native_pixel_format pf_y12i;
00038 extern const native_pixel_format pf_z16;
00039 extern const native_pixel_format pf_invz;
00040 extern const native_pixel_format pf_f200_invi;
00041 extern const native_pixel_format pf_f200_inzi;
00042 extern const native_pixel_format pf_sr300_invi;
00043 extern const native_pixel_format pf_sr300_inzi;
00044 }
00045
00046 #endif