73 lines
2.7 KiB
C
73 lines
2.7 KiB
C
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/****************************************************************************
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Copyright(c) 2019 by Aerospace C.Power (Chongqing) Microelectronics. ALL RIGHTS RESERVED.
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This Information is proprietary to Aerospace C.Power (Chongqing) Microelectronics and MAY NOT
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be copied by any method or incorporated into another program without
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the express written consent of Aerospace C.Power. This Information or any portion
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thereof remains the property of Aerospace C.Power. The Information contained herein
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is believed to be accurate and Aerospace C.Power assumes no responsibility or
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liability for its use in any way and conveys no license or title under
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any patent or copyright and makes no representation or warranty that this
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Information is free from patent or copyright infringement.
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****************************************************************************/
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#ifndef DEPTH_TO_XYZ_H
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#define DEPTH_TO_XYZ_H
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/* os shim includes */
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#include "os_types_api.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** \defgroup depth_to_xyz API
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* @brief depth_to_xyz APIs
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* These functions could be used for calculate X, Y, Z from depth map
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*
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*/
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/** @addtogroup depth_to_xyz_APIs
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* @{
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*/
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/* @brief depth_to_xyz() - to calculate X, Y, Z from depth map, output will be arranged to X values, Y values and Z values
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* given depth input D of size[height, width_], the outputs are:
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* Z[w, h] = -D[w, h] - z_mean
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* X[w, h] = ((w - cx) * D[w, h] / fx - x_mean) * 1(Z[w, h] > d_min) * 1(Z[w, h] < d_max)
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* Y[w, h] = ((cy - h) * D[w, h] / fy - y_mean) * 1(Z[w, h] > d_min) * 1(Z[w, h] < d_max)
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* @param depth: pointer to depth map
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* @param out: pointer to output
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* @param height: height of depth map
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* @param width_: width of depth map
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* @param inv_fx: 1 / fx, where fx is a constant
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* @param inv_fy: 1 / fy, where fy is a constant
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* @param x_mean: constant
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* @param y_mean: constant
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* @param z_mean: constant
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* @param cx: constant
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* @param cy: constant
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* @param d_max: constant
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* @param d_min: constant
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* @return -1 -- depth address is not a multiple of 32
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* @return -2 -- out address is not a multiple of 32
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* @return -3 -- depth's height is 0
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* @return -4 -- depth's width is 0
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* @return -5 -- depth's width is not a multiple of 8
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* @return non-negative number -- the number of output points whose Z value is between d_min and d_max
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*/
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int32_t depth_to_xyz(float *depth, float *out, uint32_t height, uint32_t width_,
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float inv_fx, float inv_fy, float x_mean, float y_mean, float z_mean,
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float cx, float cy, float d_max, float d_min);
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/**
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* @}
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*/
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#ifdef __cplusplus
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}
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#endif
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#endif
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