Function opencv::rgbd::register_depth

pub fn register_depth(
    unregistered_camera_matrix: &dyn ToInputArray, 
    registered_camera_matrix: &dyn ToInputArray, 
    registered_dist_coeffs: &dyn ToInputArray, 
    rt: &dyn ToInputArray, 
    unregistered_depth: &dyn ToInputArray, 
    output_image_plane_size: Size, 
    registered_depth: &mut dyn ToOutputArray, 
    depth_dilation: bool
) -> Result<()>

Registers depth data to an external camera Registration is performed by creating a depth cloud, transforming the cloud by the rigid body transformation between the cameras, and then projecting the transformed points into the RGB camera.

uv_rgb = K_rgb * [R | t] * z * inv(K_ir) * uv_ir

Currently does not check for negative depth values.

Parameters

• unregisteredCameraMatrix: the camera matrix of the depth camera
• registeredCameraMatrix: the camera matrix of the external camera
• registeredDistCoeffs: the distortion coefficients of the external camera
• Rt: the rigid body transform between the cameras. Transforms points from depth camera frame to external camera frame.
• unregisteredDepth: the input depth data
• outputImagePlaneSize: the image plane dimensions of the external camera (width, height)
• registeredDepth: the result of transforming the depth into the external camera
• depthDilation: whether or not the depth is dilated to avoid holes and occlusion errors (optional)

C++ default parameters

• depth_dilation: false