3.advanced.coordinate_transform

C++ Sample: 3.advanced.coordinate_transform

Overview

Use the SDK interface to transform different coordinate systems.

Knowledge

Pipeline is a pipeline for processing data streams, providing multi-channel stream configuration, switching, frame aggregation, and frame synchronization functions

Frameset is a combination of different types of Frames

Code overview

1. Enable color stream

       auto colorProfiles = pipe.getStreamProfileList(OB_SENSOR_COLOR);
       if(colorProfiles) {
           colorProfile = colorProfiles->getVideoStreamProfile(1280, OB_HEIGHT_ANY, OB_FORMAT_RGB, 30);
       }
       config->enableStream(colorProfile);

2. Enable depth stream

       auto                                    depthProfiles = pipe.getStreamProfileList(OB_SENSOR_DEPTH);
       std::shared_ptr<ob::VideoStreamProfile> depthProfile  = nullptr;
       if(depthProfiles) {
       depthProfile = depthProfiles->getVideoStreamProfile(640, OB_HEIGHT_ANY, OB_FORMAT_Y16, 30);
   
       }
       config->enableStream(depthProfile);

3. Get frame data

       auto colorFrame = frameSet->colorFrame();
       auto depthFrame = frameSet->depthFrame();

4. Get get stream profile

       auto colorProfile =  colorFrame->getStreamProfile();
       auto depthProfile = depthFrame->getStreamProfile();

5. Get the extrinsic parameters

       auto extrinsicD2C = depthProfile->getExtrinsicTo(colorProfile);
       auto extrinsicC2D = colorProfile->getExtrinsicTo(depthProfile);

6. Get the intrinsic parameters

       auto colorIntrinsic = colorProfile->as<ob::VideoStreamProfile>()->getIntrinsic();
       auto colorDistortion = colorProfile->as<ob::VideoStreamProfile>()->getDistortion();

7. Get the distortion parameters

       auto depthIntrinsic = depthProfile->as<ob::VideoStreamProfile>()->getIntrinsic();
       auto depthDistortion = depthProfile->as<ob::VideoStreamProfile>()->getDistortion();

8. Processing

       if(testType == "1") {
               transformation2dto2d(colorFrame, depthFrame);
           } else if (testType == "2") {
               transformation2dto3d(colorFrame, depthFrame);
           } else if (testType == "3") {
               transformation3dto3d(colorFrame, depthFrame);
           } else if (testType == "4") {
               transformation3dto2d(colorFrame, depthFrame);
           } else {
               std::cout << "Invalid command" << std::endl;
           }

Run Sample

Press the Esc key to exit the program. Press the 1 key - transformation 2d to 2d Press the 2 key - transformation 2d to 3d Press the 3 key - transformation 3d to 3d Press the 4 key - transformation 3d to 2d

Result