Method WarpFrame

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

WarpFrame(InputArray, InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, OutputArray)

Warps depth or RGB-D image by reprojecting it in 3d, applying an Rt transformation and then projecting it back onto the image plane.

public static void WarpFrame(InputArray depth, InputArray image, InputArray mask, InputArray Rt, InputArray cameraMatrix, OutputArray warpedDepth = default, OutputArray warpedImage = default, OutputArray warpedMask = default)

Parameters

depth InputArray

Depth data, should be 1-channel CV_16U, CV_16S, CV_32F or CV_64F.

image InputArray

RGB image (optional), should be 1-, 3- or 4-channel CV_8U.

mask InputArray

Mask of used pixels (optional), should be CV_8UC1, CV_8SC1 or CV_BoolC1.

Rt InputArray

Rotation+translation matrix (3x4 or 4x4) to be applied to depth points.

cameraMatrix InputArray

Camera intrinsics matrix (3x3).

warpedDepth OutputArray

The warped depth data (optional).

warpedImage OutputArray

The warped RGB image (optional).

warpedMask OutputArray

The mask of valid pixels in warped image (optional).