[−][src]Function k4a_sys::k4a_transformation_color_image_to_depth_camera
pub unsafe extern "C" fn k4a_transformation_color_image_to_depth_camera(
transformation_handle: k4a_transformation_t,
depth_image: k4a_image_t,
color_image: k4a_image_t,
transformed_color_image: k4a_image_t
) -> k4a_result_t
Transforms a color image into the geometry of the depth camera.
\param transformation_handle Transformation handle.
\param depth_image Handle to input depth image.
\param color_image Handle to input color image.
\param transformed_color_image Handle to output transformed color image.
\remarks This produces a color image for which each pixel matches the corresponding pixel coordinates of the depth camera.
\remarks \p depth_image and \p color_image need to represent the same moment in time. The depth data will be applied to the color image to properly warp the color data to the perspective of the depth camera.
\remarks \p depth_image must be of type ::K4A_IMAGE_FORMAT_DEPTH16. \p color_image must be of format ::K4A_IMAGE_FORMAT_COLOR_BGRA32.
\remarks \p transformed_color_image image must be of format ::K4A_IMAGE_FORMAT_COLOR_BGRA32. \p transformed_color_image must have the width and height of the depth camera in the mode specified by the \ref k4a_calibration_t used to create the \p transformation_handle with k4a_transformation_create().
\remarks \p transformed_color_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().
\returns ::K4A_RESULT_SUCCEEDED if \p transformed_color_image was successfully written and ::K4A_RESULT_FAILED otherwise.
\relates k4a_transformation_t
\xmlonly