159 lines
8.7 KiB
C
159 lines
8.7 KiB
C
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#ifndef _MV3D_RGBD_IMG_PROC_H_
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#define _MV3D_RGBD_IMG_PROC_H_
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#include "Mv3dRgbdDefine.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/************************************************************************
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* @~chinese
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* @brief RGBD相机深度图像转换点云图像
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* @param handle [IN] 相机句柄
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* @param pstDepthImage [IN] 深度图数据
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* @param pstPointCloudImage [OUT] 点云图数据
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief depth image convert to pointcloud image
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* @param handle [IN] camera handle
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* @param pstDepthImage [IN] depth data
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* @param pstPointCloudImage [OUT] point cloud data
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* @return Success, return MV3D_RGBD_OK. Failure,return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_MapDepthToPointCloud(void* handle, MV3D_RGBD_IMAGE_DATA* pstDepthImage, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage);
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/************************************************************************
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* @~chinese
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* @brief RGBD相机深度图像转换点云图像（无句柄）
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* @param pstDepthImage [IN] 深度图数据
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* @param pstCalibInfo [IN] 标定信息
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* @param fZunit [IN] 深度图量纲(mm)
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* @param pstPointCloudImage [OUT] 点云图数据
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief depth image convert to pointcloud image without handle
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* @param pstDepthImage [IN] depth data
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* @param pstCalibInfo [IN] calib info
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* @param fZunit [IN] dimension(mm)
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* @param pstPointCloudImage [OUT] point cloud data
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* @return Success, return MV3D_RGBD_OK. Failure,return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_MapDepthToPointCloudEx(MV3D_RGBD_IMAGE_DATA* pstDepthImage, MV3D_RGBD_CALIB_INFO* pstCalibInfo, float fZunit, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage);
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/************************************************************************
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* @~chinese
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* @brief 图像坐标系转换
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* @param pstInImage [IN] 输入图像数据
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* @param fZunit [IN] 深度图量纲(mm)
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* @param pstOutImage [OUT] 输出图像数据
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* @param pstCameraParam [IN][OUT] 相机参数
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief image convert coordinate to rgb coordinate
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* @param pstInImage [IN] input image data
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* @param fZunit [IN] dimension(mm)
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* @param pstOutImage [OUT] output image data
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* @param pstCameraParam [IN][OUT] camera param
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* @return Success, return MV3D_RGBD_OK. Failure,return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ImageCoordinateTrans(MV3D_RGBD_IMAGE_DATA* pstInImage, float fZunit, MV3D_RGBD_IMAGE_DATA* pstOutImage, MV3D_RGBD_CAMERA_PARAM* pstCameraParam);
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/************************************************************************
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* @~chinese
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* @brief 深度图,RGB图和原始图存图接口
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* 深度图格式:C16
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* RGB图格式:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
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* 原始图格式:Mono8(仅支持bmp格式)
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* @param handle [IN] 相机句柄
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* @param pstImage [IN] 图像数据
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* @param enFileType [IN] 文件类型
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* @param chFileName [IN] 文件名称
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief depth and rgb image save image to file
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* depth image format: C16
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* rgb image format: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
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* mono image format: Mono8(only support bmp file type)
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* @param handle [IN] camera handle
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* @param pstImage [IN] image data
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* @param enFileType [IN] file type
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* @param chFileName [IN] file name
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SaveImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, Mv3dRgbdFileType enFileType, const char* chFileName);
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/************************************************************************
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* @~chinese
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* @brief 点云图存图接口
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* @param handle [IN] 相机句柄
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* @param pstImage [IN] 图像数据
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* @param enPointCloudFileType [IN] 点云图文件类型
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* @param chFileName [IN] 文件名称
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief pointcloud image save image to file
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* @param handle [IN] camera handle
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* @param pstImage [IN] image data
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* @param enPointCloudFileType [IN] pointcloud image file type
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* @param chFileName [IN] file name
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SavePointCloudImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, Mv3dRgbdPointCloudFileType enPointCloudFileType, const char* chFileName);
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/************************************************************************
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* @~chinese
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* @brief 纹理点云存图接口
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* 纹理图格式:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
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* 保存的点云图格式:PLY_ASCII
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* @param handle [IN] 相机句柄
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* @param pstPointCloudImage [IN] 点云图像数据
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* @param pstTexture [IN] 图像纹理数据
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* @param enPointCloudFileType [IN] 点云图文件类型
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* @param chFileName [IN] 文件名称
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief textured pointcloud image save image to file
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* textured image format: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
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* saved pointcloud image format: PLY_ASCII
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* @param handle [IN] camera handle
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* @param pstPointCloudImage [IN] pointcloude image data
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* @param pstTexture [IN] image texture data
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* @param enPointCloudFileType [IN] pointcloud image file type
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* @param chFileName [IN] file name
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SaveTexturedPointCloudImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage, MV3D_RGBD_IMAGE_DATA* pstTexture, Mv3dRgbdPointCloudFileType enPointCloudFileType, const char* chFileName);
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/************************************************************************
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* @~chinese
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* @brief 显示深度和RGB图像接口
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* 深度图格式:C16
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* RGB图格式:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
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* @param handle [IN] 相机句柄
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* @param pstImage [IN] 图像数据
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* @param hWnd [IN] 窗口句柄
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief display depth and rgb image
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* depth image format: C16
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* rgb image format: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
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* @param handle [IN] camera handle
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* @param pstImage [IN] image data
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* @param hWnd [IN] windows handle
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_DisplayImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, void* hWnd);
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#ifdef __cplusplus
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}
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#endif
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#endif // _MV3D_RGBD_IMG_PROC_H_
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