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