mitk::ToFProcessingCommon Class Reference

Helper class providing functions which are useful for multiple usage. More...

#include <mitkToFProcessingCommon.h>

Public Types
typedef double	ToFScalarType
typedef itk::Point< ToFScalarType, 2 >	ToFPoint2D
typedef itk::Point< ToFScalarType, 3 >	ToFPoint3D
typedef itk::Vector< ToFScalarType, 2 >	ToFVector2D
typedef itk::Vector< ToFScalarType, 3 >	ToFVector3D

Static Public Member Functions
static ToFPoint3D	IndexToCartesianCoordinates (unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY)
	Convert index based distances to cartesian coordinates.
static ToFPoint3D	IndexToCartesianCoordinates (unsigned int i, unsigned int j, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint)
	Convert index based distances to cartesian coordinates.
static ToFPoint3D	IndexToCartesianCoordinates (itk::Index< 3 > index, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint)
	Convert index based distances to cartesian coordinates.
static ToFPoint3D	IndexToCartesianCoordinates (unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength[2], ToFScalarType principalPoint[2])
	Convenience method to convert index based distances to cartesian coordinates using array as input.
static ToFPoint3D	IndexToCartesianCoordinatesWithInterpixdist (unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength, ToFScalarType interPixelDistanceX, ToFScalarType interPixelDistanceY, ToFScalarType principalPointX, ToFScalarType principalPointY)
	Convert index based distances to cartesian coordinates.
static ToFPoint3D	IndexToCartesianCoordinatesWithInterpixdist (unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength, ToFPoint2D interPixelDistance, ToFPoint2D principalPoint)
	Convert index based distances to cartesian coordinates.
static ToFPoint3D	IndexToCartesianCoordinatesWithInterpixdist (itk::Index< 3 > index, ToFScalarType distance, ToFScalarType focalLength, ToFPoint2D interPixelDistance, ToFPoint2D principalPoint)
	Convert index based distances to cartesian coordinates.
static ToFPoint3D	IndexToCartesianCoordinatesWithInterpixdist (unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength, ToFScalarType interPixelDistance[2], ToFScalarType principalPoint[2])
	Convenience method to convert index based distances to cartesian coordinates using array as input.
static ToFPoint3D	CartesianToIndexCoordinates (ToFScalarType cartesianPointX, ToFScalarType cartesianPointY, ToFScalarType cartesianPointZ, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY, bool calculateDistance=true)
	Convert cartesian coordinates to index based distances.
static ToFPoint3D	CartesianToIndexCoordinates (ToFScalarType cartesianPoint[3], ToFScalarType focalLength[2], ToFScalarType principalPoint[2], bool calculateDistance=true)
	Convenience method to convert cartesian coordinates to index based distances using arrays.
static ToFPoint3D	CartesianToIndexCoordinates (ToFPoint3D cartesianPoint, ToFPoint2D focalLength, ToFPoint2D principalPoint, bool calculateDistance=true)
	Convert cartesian coordinates to index based distances.
static ToFPoint3D	CartesianToIndexCoordinatesWithInterpixdist (ToFScalarType cartesianPointX, ToFScalarType cartesianPointY, ToFScalarType cartesianPointZ, ToFScalarType focalLength, ToFScalarType interPixelDistanceX, ToFScalarType interPixelDistanceY, ToFScalarType principalPointX, ToFScalarType principalPointY, bool calculateDistance=true)
	Convert cartesian coordinates to index based distances.
static ToFPoint3D	CartesianToIndexCoordinatesWithInterpixdist (ToFScalarType cartesianPoint[3], ToFScalarType focalLength, ToFScalarType interPixelDistance[2], ToFScalarType principalPoint[2], bool calculateDistance=true)
	Convenience method to convert cartesian coordinates to index based distances using arrays.
static ToFPoint3D	CartesianToIndexCoordinatesWithInterpixdist (ToFPoint3D cartesianPoint, ToFScalarType focalLength, ToFPoint2D interPixelDistance, ToFPoint2D principalPoint, bool calculateDistance=true)
	Convert cartesian coordinates to index based distances.
static ToFProcessingCommon::ToFPoint3D	KinectIndexToCartesianCoordinates (unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY)
	KinectIndexToCartesianCoordinates Convert a pixel (i,j) with value d to a 3D world point. This conversion is meant for Kinect and slightly different then ToF reconstruction. See also "Hacking the Kinect" - Jeff Kramer, Matt Parker, Daniel Herrera C., Nicolas Burrus, Florian Echtler, Chapter 7, Part 1 "Moving from Depth Map to Point Cloud.
static ToFPoint3D	KinectIndexToCartesianCoordinates (unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength[2], ToFScalarType principalPoint[2])
static ToFPoint3D	KinectIndexToCartesianCoordinates (unsigned int i, unsigned int j, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint)
static ToFPoint3D	KinectIndexToCartesianCoordinates (itk::Index< 3 > index, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint)
static ToFPoint3D	CartesianToKinectIndexCoordinates (ToFScalarType cartesianPointX, ToFScalarType cartesianPointY, ToFScalarType cartesianPointZ, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY, bool calculateDistance=true)
	CartesianCoordinatesToKinectIndexCoordinates Transform a 3D world point back to distance image pixel coordinates.
static ToFProcessingCommon::ToFPoint3D	CartesianToKinectIndexCoordinates (ToFPoint3D cartesianPoint, ToFPoint2D focalLength, ToFPoint2D principalPoint, bool calculateDistance=true)
static ToFProcessingCommon::ToFPoint3D	ContinuousKinectIndexToCartesianCoordinates (mitk::Point2D continuousIndex, ToFScalarType distance, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY)
	ContinuousKinectIndexToCartesianCoordinates This method is escpially meant for reconstructing a Kinect point with continuous index coordinates (i.e. not exactly a pixel position, but a point interpolated between two pixels). The only difference to KinectIndexToCartesianCoordinates() is that ContinuousKinectIndexToCartesianCoordinates does not cast to unsigned int for the index.
static ToFScalarType	CalculateViewAngle (mitk::CameraIntrinsics::Pointer intrinsics, unsigned int dimX)
	Calculates the horizontal view angle of the camera with the given intrinsics.

Detailed Description

Helper class providing functions which are useful for multiple usage.

Currently the following methods are provided:

• Conversion from 2D image coordinates to 3D world coordinates (IndexToCartesianCoordinates())
• Conversion from 3D world coordinates to 2D image coordinates (CartesianToIndexCoordinates())

The coordinate conversion follows the model of a common pinhole camera where the origin of the camera coordinate system (world coordinates) is at the pinhole

The definition of the image plane and its coordinate systems (pixel and mm) is depicted in the following image

Definition at line 38 of file mitkToFProcessingCommon.h.

Member Typedef Documentation

ToFPoint2D

itk::Point<ToFScalarType, 2> mitk::ToFProcessingCommon::ToFPoint2D

Definition at line 42 of file mitkToFProcessingCommon.h.

ToFPoint3D

itk::Point<ToFScalarType, 3> mitk::ToFProcessingCommon::ToFPoint3D

Definition at line 43 of file mitkToFProcessingCommon.h.

ToFScalarType

double mitk::ToFProcessingCommon::ToFScalarType

Definition at line 41 of file mitkToFProcessingCommon.h.

ToFVector2D

itk::Vector<ToFScalarType, 2> mitk::ToFProcessingCommon::ToFVector2D

Definition at line 44 of file mitkToFProcessingCommon.h.

ToFVector3D

itk::Vector<ToFScalarType, 3> mitk::ToFProcessingCommon::ToFVector3D

Definition at line 45 of file mitkToFProcessingCommon.h.

Member Function Documentation

CalculateViewAngle()

ToFProcessingCommon::ToFScalarType mitk::ToFProcessingCommon::CalculateViewAngle ( mitk::CameraIntrinsics::Pointer intrinsics, unsigned int dimX )

static

Calculates the horizontal view angle of the camera with the given intrinsics.

Parameters

intrinsics	intrinsic parameters of the camera
dimX	dimension of the image in horizontal direction

angle = atan(principalPoint[0]/focalLength[0]) + atan((dimX-principalPoint[0]/focalLength[0]))

Definition at line 160 of file mitkToFProcessingCommon.cpp.

CartesianToIndexCoordinates() [1/3]

static ToFPoint3D mitk::ToFProcessingCommon::CartesianToIndexCoordinates ( ToFPoint3D cartesianPoint, ToFPoint2D focalLength, ToFPoint2D principalPoint, bool calculateDistance = true )

inlinestatic

Convert cartesian coordinates to index based distances.

Parameters

cartesianPoint	point (of a surface or point set) to convert in 3D coordinates
focalLength	focal length of optical system in pixel units (mostly obtained from camera calibration)
principalPoint	coordinates of principal point on image plane in pixel
calculateDistance	if this flag is set, the distance value is stored in the z position of the output otherwise z=0

Returns

a ToFPoint3D. (int)ToFPoint3D[0]+0.5 and (int)ToFPoint3D[0]+0.5 will return the x and y index coordinates. ToFPoint3D[2] contains the distance value

Definition at line 204 of file mitkToFProcessingCommon.h.

CartesianToIndexCoordinates() [2/3]

static ToFPoint3D mitk::ToFProcessingCommon::CartesianToIndexCoordinates ( ToFScalarType cartesianPoint[3], ToFScalarType focalLength[2], ToFScalarType principalPoint[2], bool calculateDistance = true )

inlinestatic

Convenience method to convert cartesian coordinates to index based distances using arrays.

Parameters

cartesianPoint	point (of a surface or point set) to convert in 3D coordinates
focalLength	focal length of optical system in pixel units (mostly obtained from camera calibration)
principalPoint	coordinates of principal point on image plane in pixel
calculateDistance	if this flag is set, the distance value is stored in the z position of the output otherwise z=0

Returns

a ToFPoint3D. (int)ToFPoint3D[0]+0.5 and (int)ToFPoint3D[0]+0.5 will return the x and y index coordinates. ToFPoint3D[2] contains the distance value

Definition at line 190 of file mitkToFProcessingCommon.h.

CartesianToIndexCoordinates() [3/3]

ToFProcessingCommon::ToFPoint3D mitk::ToFProcessingCommon::CartesianToIndexCoordinates ( ToFScalarType cartesianPointX, ToFScalarType cartesianPointY, ToFScalarType cartesianPointZ, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY, bool calculateDistance = true )

static

Convert cartesian coordinates to index based distances.

Parameters

cartesianPointX	x coordinate of point (of a surface or point set) to convert in 3D coordinates
cartesianPointY	y coordinate of point (of a surface or point set) to convert in 3D coordinates
cartesianPointZ	z coordinate of point (of a surface or point set) to convert in 3D coordinates
focalLengthX	focal length of optical system in pixel units in x-direction (mostly obtained from camera calibration)
focalLengthY	focal length of optical system in pixel units in y-direction (mostly obtained from camera calibration)
principalPointX	x coordinate of principal point on image plane in pixel
principalPointY	y coordinate of principal point on image plane in pixel
calculateDistance	if this flag is set, the distance value is stored in the z position of the output otherwise z=0

Returns

a ToFPoint3D. (int)ToFPoint3D[0]+0.5 and (int)ToFPoint3D[0]+0.5 will return the x and y index coordinates. ToFPoint3D[2] contains the distance value

Definition at line 92 of file mitkToFProcessingCommon.cpp.

CartesianToIndexCoordinatesWithInterpixdist() [1/3]

static ToFPoint3D mitk::ToFProcessingCommon::CartesianToIndexCoordinatesWithInterpixdist ( ToFPoint3D cartesianPoint, ToFScalarType focalLength, ToFPoint2D interPixelDistance, ToFPoint2D principalPoint, bool calculateDistance = true )

inlinestatic

Convert cartesian coordinates to index based distances.

Parameters

cartesianPoint	point (of a surface or point set) to convert in 3D coordinates
focalLength	focal length of optical system in mm (mostly obtained from camera calibration)
interPixelDistance	distance between adjacent pixels in mm for x and y direction
principalPoint	coordinates of principal point on image plane in pixel
calculateDistance	if this flag is set, the distance value is stored in the z position of the output otherwise z=0

Returns

a ToFPoint3D. (int)ToFPoint3D[0]+0.5 and (int)ToFPoint3D[0]+0.5 will return the x and y index coordinates. ToFPoint3D[2] contains the distance value

Definition at line 254 of file mitkToFProcessingCommon.h.

CartesianToIndexCoordinatesWithInterpixdist() [2/3]

static ToFPoint3D mitk::ToFProcessingCommon::CartesianToIndexCoordinatesWithInterpixdist ( ToFScalarType cartesianPoint[3], ToFScalarType focalLength, ToFScalarType interPixelDistance[2], ToFScalarType principalPoint[2], bool calculateDistance = true )

inlinestatic

Convenience method to convert cartesian coordinates to index based distances using arrays.

Parameters

cartesianPoint	point (of a surface or point set) to convert in 3D coordinates
focalLength	focal length of optical system in mm (mostly obtained from camera calibration)
interPixelDistance	distance between adjacent pixels in mm for x and y direction
principalPoint	coordinates of principal point on image plane in pixel
calculateDistance	if this flag is set, the distance value is stored in the z position of the output otherwise z=0

Returns

a ToFPoint3D. (int)ToFPoint3D[0]+0.5 and (int)ToFPoint3D[0]+0.5 will return the x and y index coordinates. ToFPoint3D[2] contains the distance value

Definition at line 238 of file mitkToFProcessingCommon.h.

CartesianToIndexCoordinatesWithInterpixdist() [3/3]

ToFProcessingCommon::ToFPoint3D mitk::ToFProcessingCommon::CartesianToIndexCoordinatesWithInterpixdist ( ToFScalarType cartesianPointX, ToFScalarType cartesianPointY, ToFScalarType cartesianPointZ, ToFScalarType focalLength, ToFScalarType interPixelDistanceX, ToFScalarType interPixelDistanceY, ToFScalarType principalPointX, ToFScalarType principalPointY, bool calculateDistance = true )

static

Convert cartesian coordinates to index based distances.

Parameters

cartesianPointX	x coordinate of point (of a surface or point set) to convert in 3D coordinates
cartesianPointY	y coordinate of point (of a surface or point set) to convert in 3D coordinates
cartesianPointZ	z coordinate of point (of a surface or point set) to convert in 3D coordinates
focalLength	focal length of optical system in mm (mostly obtained from camera calibration)
interPixelDistanceX	distance in x direction between adjacent pixels in mm
interPixelDistanceY	distance in y direction between adjacent pixels in mm
principalPointX	x coordinate of principal point on image plane in pixel
principalPointY	y coordinate of principal point on image plane in pixel
calculateDistance	if this flag is set, the distance value is stored in the z position of the output otherwise z=0

Returns

a ToFPoint3D. (int)ToFPoint3D[0]+0.5 and (int)ToFPoint3D[0]+0.5 will return the x and y index coordinates. ToFPoint3D[2] contains the distance value

Definition at line 124 of file mitkToFProcessingCommon.cpp.

CartesianToKinectIndexCoordinates() [1/2]

static ToFProcessingCommon::ToFPoint3D mitk::ToFProcessingCommon::CartesianToKinectIndexCoordinates ( ToFPoint3D cartesianPoint, ToFPoint2D focalLength, ToFPoint2D principalPoint, bool calculateDistance = true )

inlinestatic

Definition at line 308 of file mitkToFProcessingCommon.h.

CartesianToKinectIndexCoordinates() [2/2]

ToFProcessingCommon::ToFPoint3D mitk::ToFProcessingCommon::CartesianToKinectIndexCoordinates ( ToFScalarType cartesianPointX, ToFScalarType cartesianPointY, ToFScalarType cartesianPointZ, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY, bool calculateDistance = true )

static

CartesianCoordinatesToKinectIndexCoordinates Transform a 3D world point back to distance image pixel coordinates.

Parameters

cartesianPointX	x value of the cartesian point.
cartesianPointY	y value of the cartesian point.
cartesianPointZ	z value of the cartesian point.
focalLengthX	x value of the focal length (from calibration).
focalLengthY	y value of the focal length (from calibration).
principalPointX	x value of the principal point (from calibration).
principalPointY	y value of the principal point (from calibration).
calculateDistance	Do you want to compute also the distance of the distance image? For Kinect, this value is always the same in cartesian and index coordinates.

Returns

A ToFPoint3D containing the pixel indices (i,j) in [0] and [1] and (optionally) the distance value in [2] (or just 0.0).

Definition at line 53 of file mitkToFProcessingCommon.cpp.

ContinuousKinectIndexToCartesianCoordinates()

ToFProcessingCommon::ToFPoint3D mitk::ToFProcessingCommon::ContinuousKinectIndexToCartesianCoordinates ( mitk::Point2D continuousIndex, ToFScalarType distance, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY )

static

ContinuousKinectIndexToCartesianCoordinates This method is escpially meant for reconstructing a Kinect point with continuous index coordinates (i.e. not exactly a pixel position, but a point interpolated between two pixels). The only difference to KinectIndexToCartesianCoordinates() is that ContinuousKinectIndexToCartesianCoordinates does not cast to unsigned int for the index.

Parameters

continuousIndex	The continuous coordinates (e.g. 0.5; 0.5).
distance	Distance value d in mm as obtained from OpenNI.
focalLengthX	x value of the focal length (from calibration).
focalLengthY	y value of the focal length (from calibration)
principalPointX	x value of the principal point (from calibration).
principalPointY	y value of the principal point (from calibration).

Returns

a ToFPoint3D. The point in world coordinates (mm).

Definition at line 149 of file mitkToFProcessingCommon.cpp.

IndexToCartesianCoordinates() [1/4]

static ToFPoint3D mitk::ToFProcessingCommon::IndexToCartesianCoordinates ( itk::Index< 3 > index, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint )

inlinestatic

Convert index based distances to cartesian coordinates.

Parameters

index	index coordinates
distance	distance value at given index in mm
focalLength	focal length of optical system in pixel units (mostly obtained from camera calibration)
principalPoint	coordinates of principal point on image plane in pixel

Returns

cartesian coordinates for current index will be written here

Definition at line 84 of file mitkToFProcessingCommon.h.

IndexToCartesianCoordinates() [2/4]

static ToFPoint3D mitk::ToFProcessingCommon::IndexToCartesianCoordinates ( unsigned int i, unsigned int j, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint )

inlinestatic

Convert index based distances to cartesian coordinates.

Parameters

i	index in x direction of image plane
j	index in y direction of image plane
distance	distance value at given index in mm
focalLength	focal length of optical system in pixel units (mostly obtained from camera calibration)
principalPoint	coordinates of principal point on image plane in pixel

Returns

cartesian coordinates for current index will be written here

Definition at line 70 of file mitkToFProcessingCommon.h.

IndexToCartesianCoordinates() [3/4]

static ToFPoint3D mitk::ToFProcessingCommon::IndexToCartesianCoordinates ( unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength[2], ToFScalarType principalPoint[2] )

inlinestatic

Convenience method to convert index based distances to cartesian coordinates using array as input.

Parameters

i	index in x direction of image plane
j	index in y direction of image plane
distance	distance value at given index in mm
focalLength	focal length of optical system in pixel units (mostly obtained from camera calibration)
principalPoint	coordinates of principal point on image plane in pixel

Returns

cartesian coordinates for current index will be written here

Definition at line 98 of file mitkToFProcessingCommon.h.

IndexToCartesianCoordinates() [4/4]

ToFProcessingCommon::ToFPoint3D mitk::ToFProcessingCommon::IndexToCartesianCoordinates ( unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY )

static

Convert index based distances to cartesian coordinates.

Parameters

i	index in x direction of image plane
j	index in y direction of image plane
distance	distance value at given index in mm
focalLengthX	focal length of optical system in pixel units in x-direction (mostly obtained from camera calibration)
focalLengthY	focal length of optical system in pixel units in y-direction (mostly obtained from camera calibration)
principalPointX	x coordinate of principal point on image plane in pixel
principalPointY	y coordinate of principal point on image plane in pixel

Returns

cartesian coordinates for current index will be written here

Definition at line 16 of file mitkToFProcessingCommon.cpp.

IndexToCartesianCoordinatesWithInterpixdist() [1/4]

static ToFPoint3D mitk::ToFProcessingCommon::IndexToCartesianCoordinatesWithInterpixdist ( itk::Index< 3 > index, ToFScalarType distance, ToFScalarType focalLength, ToFPoint2D interPixelDistance, ToFPoint2D principalPoint )

inlinestatic

Convert index based distances to cartesian coordinates.

Parameters

index	index coordinates
distance	distance value at given index in mm
focalLength	focal length of optical system (mostly obtained from camera calibration)
interPixelDistance	distance between adjacent pixels in mm for x and y direction
principalPoint	coordinates of principal point on image plane in pixel

Returns

cartesian coordinates for current index will be written here

Definition at line 144 of file mitkToFProcessingCommon.h.

IndexToCartesianCoordinatesWithInterpixdist() [2/4]

static ToFPoint3D mitk::ToFProcessingCommon::IndexToCartesianCoordinatesWithInterpixdist ( unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength, ToFPoint2D interPixelDistance, ToFPoint2D principalPoint )

inlinestatic

Convert index based distances to cartesian coordinates.

Parameters

i	index in x direction of image plane
j	index in y direction of image plane
distance	distance value at given index in mm
focalLength	focal length of optical system in mm (mostly obtained from camera calibration)
interPixelDistance	distance between adjacent pixels in mm
principalPoint	coordinates of principal point on image plane in pixel

Returns

cartesian coordinates for current index will be written here

Definition at line 130 of file mitkToFProcessingCommon.h.

IndexToCartesianCoordinatesWithInterpixdist() [3/4]

static ToFPoint3D mitk::ToFProcessingCommon::IndexToCartesianCoordinatesWithInterpixdist ( unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength, ToFScalarType interPixelDistance[2], ToFScalarType principalPoint[2] )

inlinestatic

Convenience method to convert index based distances to cartesian coordinates using array as input.

Parameters

i	index in x direction of image plane
j	index in y direction of image plane
distance	distance value at given index in mm
focalLength	focal length of optical system in mm (mostly obtained from camera calibration)
interPixelDistance	distance between adjacent pixels in mm
principalPoint	coordinates of principal point on image plane in pixel

Returns

cartesian coordinates for current index will be written here

Definition at line 159 of file mitkToFProcessingCommon.h.

IndexToCartesianCoordinatesWithInterpixdist() [4/4]

ToFProcessingCommon::ToFPoint3D mitk::ToFProcessingCommon::IndexToCartesianCoordinatesWithInterpixdist ( unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength, ToFScalarType interPixelDistanceX, ToFScalarType interPixelDistanceY, ToFScalarType principalPointX, ToFScalarType principalPointY )

static

Convert index based distances to cartesian coordinates.

Parameters

i	index in x direction of image plane
j	index in y direction of image plane
distance	distance value at given index in mm
focalLength	focal length of optical system in mm (mostly obtained from camera calibration)
interPixelDistanceX	distance in x direction between adjacent pixels in mm
interPixelDistanceY	distance in y direction between adjacent pixels in mm
principalPointX	x coordinate of principal point on image plane in pixel
principalPointY	y coordinate of principal point on image plane in pixel

Returns

cartesian coordinates for current index will be written here

Definition at line 70 of file mitkToFProcessingCommon.cpp.

KinectIndexToCartesianCoordinates() [1/4]

static ToFPoint3D mitk::ToFProcessingCommon::KinectIndexToCartesianCoordinates ( itk::Index< 3 > index, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint )

inlinestatic

Definition at line 286 of file mitkToFProcessingCommon.h.

KinectIndexToCartesianCoordinates() [2/4]

static ToFPoint3D mitk::ToFProcessingCommon::KinectIndexToCartesianCoordinates ( unsigned int i, unsigned int j, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint )

inlinestatic

Definition at line 280 of file mitkToFProcessingCommon.h.

KinectIndexToCartesianCoordinates() [3/4]

static ToFPoint3D mitk::ToFProcessingCommon::KinectIndexToCartesianCoordinates ( unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength[2], ToFScalarType principalPoint[2] )

inlinestatic

Definition at line 274 of file mitkToFProcessingCommon.h.

KinectIndexToCartesianCoordinates() [4/4]

ToFProcessingCommon::ToFPoint3D mitk::ToFProcessingCommon::KinectIndexToCartesianCoordinates ( unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY )

static

KinectIndexToCartesianCoordinates Convert a pixel (i,j) with value d to a 3D world point. This conversion is meant for Kinect and slightly different then ToF reconstruction. See also "Hacking the Kinect" - Jeff Kramer, Matt Parker, Daniel Herrera C., Nicolas Burrus, Florian Echtler, Chapter 7, Part 1 "Moving from Depth Map to Point Cloud.

Parameters

i	Pixel index i.
j	Pixel index j.
distance	Distance value d in mm as obtained from OpenNI.
focalLengthX	Focallength from calibration.
focalLengthY	Focallength from calibration.
principalPointX	Principal point from calibration.
principalPointY	Principal point from calibration.

Returns

a ToFPoint3D. The point in world coordinates (mm).

Definition at line 41 of file mitkToFProcessingCommon.cpp.

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The documentation for this class was generated from the following files:

• Modules/ToFProcessing/mitkToFProcessingCommon.h
• Modules/ToFProcessing/mitkToFProcessingCommon.cpp