Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
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image.h
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1// License: Apache 2.0. See LICENSE file in root directory.
2// Copyright(c) 2015 Intel Corporation. All Rights Reserved.
3
4#pragma once
5#ifndef LIBREALSENSE_IMAGE_H
6#define LIBREALSENSE_IMAGE_H
7
8#include "types.h"
9
10namespace rsimpl
11{
12
13 size_t get_image_size (int width, int height, rs_format format);
15 void deproject_z (float * points, const rs_intrinsics & z_intrin, const uint16_t * z_pixels, float z_scale);
16 void deproject_disparity (float * points, const rs_intrinsics & disparity_intrin, const uint16_t * disparity_pixels, float disparity_scale);
17
18 void align_z_to_other (byte * z_aligned_to_other, const uint16_t * z_pixels, float z_scale, const rs_intrinsics & z_intrin,
19 const rs_extrinsics & z_to_other, const rs_intrinsics & other_intrin);
20 void align_disparity_to_other (byte * disparity_aligned_to_other, const uint16_t * disparity_pixels, float disparity_scale, const rs_intrinsics & disparity_intrin,
21 const rs_extrinsics & disparity_to_other, const rs_intrinsics & other_intrin);
22 void align_other_to_z (byte * other_aligned_to_z, const uint16_t * z_pixels, float z_scale, const rs_intrinsics & z_intrin,
23 const rs_extrinsics & z_to_other, const rs_intrinsics & other_intrin, const byte * other_pixels, rs_format other_format);
24 void align_other_to_disparity (byte * other_aligned_to_disparity, const uint16_t * disparity_pixels, float disparity_scale, const rs_intrinsics & disparity_intrin,
25 const rs_extrinsics & disparity_to_other, const rs_intrinsics & other_intrin, const byte * other_pixels, rs_format other_format);
26
27 std::vector<int> compute_rectification_table (const rs_intrinsics & rect_intrin, const rs_extrinsics & rect_to_unrect, const rs_intrinsics & unrect_intrin);
28 void rectify_image (uint8_t * rect_pixels, const std::vector<int> & rectification_table, const uint8_t * unrect_pixels, rs_format format);
29
30 extern const native_pixel_format pf_raw8; // Four 8 bit luminance
31 extern const native_pixel_format pf_rw10; // Four 10 bit luminance values in one 40 bit macropixel
32 extern const native_pixel_format pf_rw16; // 10 bit in 16 bit WORD with 6 bit unused
33 extern const native_pixel_format pf_yuy2; // Y0 U Y1 V ordered chroma subsampled macropixel
34 extern const native_pixel_format pf_y8; // 8 bit (left) IR image
35 extern const native_pixel_format pf_y8i; // 8 bits left IR + 8 bits right IR per pixel
36 extern const native_pixel_format pf_y16; // 16 bit (left) IR image
37 extern const native_pixel_format pf_y12i; // 12 bits left IR + 12 bits right IR per pixel
38 extern const native_pixel_format pf_z16; // 16 bit Z image
39 extern const native_pixel_format pf_invz; // 16 bit Z image
40 extern const native_pixel_format pf_f200_invi; // 8-bit IR image
41 extern const native_pixel_format pf_f200_inzi; // 16-bit Z + 8 bit IR per pixel
42 extern const native_pixel_format pf_sr300_invi; // 16-bit IR image
43 extern const native_pixel_format pf_sr300_inzi; // Planar 16-bit IR image followed by 16-bit Z image
44}
45
46#endif
Definition: archive.h:13
const native_pixel_format pf_f200_invi
int get_image_bpp(rs_format format)
const native_pixel_format pf_raw8
const native_pixel_format pf_y16
const native_pixel_format pf_rw10
void align_disparity_to_other(byte *disparity_aligned_to_other, const uint16_t *disparity_pixels, float disparity_scale, const rs_intrinsics &disparity_intrin, const rs_extrinsics &disparity_to_other, const rs_intrinsics &other_intrin)
const native_pixel_format pf_sr300_inzi
const native_pixel_format pf_z16
const native_pixel_format pf_f200_inzi
const native_pixel_format pf_y8
std::vector< int > compute_rectification_table(const rs_intrinsics &rect_intrin, const rs_extrinsics &rect_to_unrect, const rs_intrinsics &unrect_intrin)
void deproject_disparity(float *points, const rs_intrinsics &disparity_intrin, const uint16_t *disparity_pixels, float disparity_scale)
const native_pixel_format pf_y8i
void align_other_to_z(byte *other_aligned_to_z, const uint16_t *z_pixels, float z_scale, const rs_intrinsics &z_intrin, const rs_extrinsics &z_to_other, const rs_intrinsics &other_intrin, const byte *other_pixels, rs_format other_format)
const native_pixel_format pf_y12i
void rectify_image(uint8_t *rect_pixels, const std::vector< int > &rectification_table, const uint8_t *unrect_pixels, rs_format format)
const native_pixel_format pf_invz
void deproject_z(float *points, const rs_intrinsics &z_intrin, const uint16_t *z_pixels, float z_scale)
const native_pixel_format pf_sr300_invi
size_t get_image_size(int width, int height, rs_format format)
const native_pixel_format pf_rw16
void align_other_to_disparity(byte *other_aligned_to_disparity, const uint16_t *disparity_pixels, float disparity_scale, const rs_intrinsics &disparity_intrin, const rs_extrinsics &disparity_to_other, const rs_intrinsics &other_intrin, const byte *other_pixels, rs_format other_format)
void align_z_to_other(byte *z_aligned_to_other, const uint16_t *z_pixels, float z_scale, const rs_intrinsics &z_intrin, const rs_extrinsics &z_to_other, const rs_intrinsics &other_intrin)
const native_pixel_format pf_yuy2
rs_format
Formats: defines how each stream can be encoded.
Definition: rs.h:54
Cross-stream extrinsics: encode the topology describing how the different devices are connected.
Definition: rs.h:333
Video stream intrinsics.
Definition: rs.h:301
Definition: types.h:140