rsutil.h File Reference

#include <stdlib.h>
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include <float.h>
#include "h/rs_types.h"
#include "h/rs_sensor.h"

Go to the source code of this file.

Functions
void	rs2_project_point_to_pixel (float pixel[2], const rs2_intrinsics *intrin, const float point[3])
void	rs2_deproject_pixel_to_point (float point[3], const rs2_intrinsics *intrin, const float pixel[2], float depth)
void	rs2_transform_point_to_point (float to_point[3], const rs2_extrinsics *extrin, const float from_point[3])
void	rs2_fov (const rs2_intrinsics *intrin, float to_fov[2])
void	rs2_project_color_pixel_to_depth_pixel (float to_pixel[2], const uint16_t *data, float depth_scale, float depth_min, float depth_max, const struct rs2_intrinsics *depth_intrin, const struct rs2_intrinsics *color_intrin, const struct rs2_extrinsics *color_to_depth, const struct rs2_extrinsics *depth_to_color, const float from_pixel[2])

Function Documentation

rs2_deproject_pixel_to_point()

void rs2_deproject_pixel_to_point	(	float	point[3],
		const rs2_intrinsics *	intrin,
		const float	pixel[2],
		float	depth
	)

rs2_fov()

void rs2_fov	(	const rs2_intrinsics *	intrin,
		float	to_fov[2]
	)

rs2_project_color_pixel_to_depth_pixel()

void rs2_project_color_pixel_to_depth_pixel	(	float	to_pixel[2],
		const uint16_t *	data,
		float	depth_scale,
		float	depth_min,
		float	depth_max,
		const struct rs2_intrinsics *	depth_intrin,
		const struct rs2_intrinsics *	color_intrin,
		const struct rs2_extrinsics *	color_to_depth,
		const struct rs2_extrinsics *	depth_to_color,
		const float	from_pixel[2]
	)

rs2_project_point_to_pixel()

void rs2_project_point_to_pixel	(	float	pixel[2],
		const rs2_intrinsics *	intrin,
		const float	point[3]
	)

rs2_transform_point_to_point()

void rs2_transform_point_to_point	(	float	to_point[3],
		const rs2_extrinsics *	extrin,
		const float	from_point[3]
	)