opencv::rgbd

Function depth_to3d

Source 
pub fn depth_to3d(
    depth: &impl ToInputArray,
    k: &impl ToInputArray,
    points3d: &mut impl ToOutputArray,
    mask: &impl ToInputArray,
) -> Result<()>
Expand description

Converts a depth image to an organized set of 3d points. The coordinate system is x pointing left, y down and z away from the camera

§Parameters

  • depth: the depth image (if given as short int CV_U, it is assumed to be the depth in millimeters (as done with the Microsoft Kinect), otherwise, if given as CV_32F or CV_64F, it is assumed in meters)
  • K: The calibration matrix
  • points3d: the resulting 3d points. They are of depth the same as depth if it is CV_32F or CV_64F, and the depth of K if depth is of depth CV_U
  • mask: the mask of the points to consider (can be empty)

§C++ default parameters

  • mask: noArray()