[−][src]Function k4a_sys_temp::k4a_calibration_3d_to_3d
pub unsafe extern "C" fn k4a_calibration_3d_to_3d(
calibration: *const k4a_calibration_t,
source_point3d_mm: *const k4a_float3_t,
source_camera: k4a_calibration_type_t,
target_camera: k4a_calibration_type_t,
target_point3d_mm: *mut k4a_float3_t
) -> k4a_result_t
Transform a 3D point of a source coordinate system into a 3D point of the target coordinate system
\param calibration Location to read the camera calibration data.
\param source_point3d_mm The 3D coordinates in millimeters representing a point in \p source_camera.
\param source_camera The current camera.
\param target_camera The target camera.
\param target_point3d_mm Pointer to the output where the new 3D coordinates of the input point in the coordinate space of \p target_camera is stored in millimeters.
\returns ::K4A_RESULT_SUCCEEDED if \p target_point3d_mm was successfully written. ::K4A_RESULT_FAILED if \p calibration contained invalid transformation parameters.
\remarks This function is used to transform 3D points between depth and color camera coordinate systems. The function uses the extrinsic camera calibration. It computes the output via multiplication with a precomputed matrix encoding a 3D rotation and a 3D translation. If \p source_camera and \p target_camera are the same, then \p target_point3d_mm will be identical to \p source_point3d_mm.
\relates k4a_calibration_t
\xmlonly