438 #endif // #ifndef TRICLOPS3D_H enum TriclopsError triclopsSetTriclopsToWorldTransform(TriclopsContext context, const TriclopsTransform *transform)
Sets the 3D world coordinates rototranslation matrix to a TriclopsContext.
Definition: triclops3d.cpp:180
TriclopsPoint3d * points
Definition: triclops3d.h:74
struct TriclopsPoint3d TriclopsPoint3d
Three dimensional point structure.
float point[3]
Definition: triclops3d.h:53
enum TriclopsError triclopsRCDFloatToWorldXYZ(TriclopsContext context, float row, float col, float disp, float *x, float *y, float *z)
Converts a 2D pixel coordinate in disparity space to a 3D point in world coordinate system...
Definition: triclops3d.cpp:132
enum TriclopsError triclopsRCDToXYZ(TriclopsContext context, float row, float col, float disp, float *x, float *y, float *z)
Converts a 2D pixel coordinate in disparity space to a 3D point in camera coordinate system...
Definition: triclops3d.cpp:36
enum TriclopsError triclopsWriteTransformToFile(const char *fileName, const TriclopsTransform *transform)
Saves a 3D world coordinates rototranslation matrix to memory.
int ncols
Definition: triclops3d.h:70
enum TriclopsError triclopsExtractWorldImage3d(TriclopsContext context, TriclopsImage3d *pimage)
Generates a 3D point in world space cloud from the provided context.
Definition: triclops3d.cpp:273
TriclopsError
Error enumerator.
Definition: triclopserror.h:46
enum TriclopsError triclopsGetTransformFromFile(const char *fileName, TriclopsTransform *transform)
Loads a 3D world coordinates rototranslation matrix from memory.
Definition: triclops3d.cpp:207
Three dimensional point structure.
Definition: triclops3d.h:52
void * TriclopsContext
Wrapper for the internal C++ Triclops context.
Definition: triclopstype.h:54
enum TriclopsError triclopsCreateImage3d(TriclopsContext context, TriclopsImage3d **ppimage)
Initialises a 3D image structure.
Definition: triclops3d.cpp:230
enum TriclopsError triclopsExtractImage3d(TriclopsContext context, TriclopsImage3d *pimage)
Generates a 3D point cloud in camera space from the provided context.
Definition: triclops3d.cpp:265
enum TriclopsError triclopsRCDFloatToXYZ(TriclopsContext context, float row, float col, float disp, float *x, float *y, float *z)
Converts a 2D pixel coordinate in disparity space to a 3D point in camera coordinate system...
Definition: triclops3d.cpp:52
enum TriclopsError triclopsRCD16ToXYZ(TriclopsContext context, int row, int col, unsigned short disp, float *x, float *y, float *z)
Converts a 2D pixel coordinate in disparity space to a 3D point in camera coordinate system...
Definition: triclops3d.cpp:67
enum TriclopsError triclopsXYZToRCD(TriclopsContext context, float x, float y, float z, float *row, float *col, float *disp)
Converts a 3D point in camera coordinate system to a 2D pixel coordinate in disparity space...
Definition: triclops3d.cpp:82
enum TriclopsError triclopsGetTriclopsToWorldTransform(TriclopsContext context, TriclopsTransform *transform)
Gets the 3D world coordinates rototranslation matrix to a TriclopsContext.
Definition: triclops3d.cpp:194
int nrows
Definition: triclops3d.h:68
int rowinc
Definition: triclops3d.h:72
enum TriclopsError triclopsRCD16ToWorldXYZ(TriclopsContext context, int row, int col, unsigned short disp, float *x, float *y, float *z)
Converts a 2D pixel coordinate in disparity space to a 3D point in world coordinate system...
Definition: triclops3d.cpp:148
void triclopsDestroyImage3d(TriclopsImage3d **ppimage)
Destroys a 3D image structure.
Definition: triclops3d.cpp:243
enum TriclopsError triclopsWorldXYZToRCD(TriclopsContext context, float x, float y, float z, float *row, float *col, float *disp)
Converts a 3D point in world coordinate system to a 2D pixel coordinate in disparity space...
Definition: triclops3d.cpp:164
enum TriclopsError triclopsGetImageCenter(const TriclopsContext context, float *centerRow, float *centerCol)
Returns the optical center for pinhole calculations.It is important that the context already has the ...
Definition: triclops3d.cpp:97
Three dimensional data structure.
Definition: triclops3d.h:67
struct TriclopsImage3d TriclopsImage3d
Three dimensional data structure.
enum TriclopsError triclopsRCDToWorldXYZ(TriclopsContext context, float row, float col, float disp, float *x, float *y, float *z)
Converts a 2D pixel coordinate in disparity space to a 3D point in world coordinate system...
Definition: triclops3d.cpp:115