dockware-core/scanning.pointclouds/PointCloudHelper

PointCloudHelper

class PointCloudHelper

Static utilities for depth data transformations.

Types

ToFIntrinsics

open class ToFIntrinsics

ToFToRGBTransform

open class ToFToRGBTransform

Functions

convertCamera2ToFToCameraSpace

open fun convertCamera2ToFToCameraSpace(tofDepthImage: Image, confidenceImage: Image, tofIntrinsics: PointCloudHelper.ToFIntrinsics, confidenceThreshold: Int, maxPoints: Int): Array<FloatBuffer>

Converts Camera2 ToF depth image to 3D points in camera space (no ARCore required).

convertCamera2ToFToWorldSpace

open fun convertCamera2ToFToWorldSpace(tofDepthImage: Image, confidenceImage: Image, tofIntrinsics: PointCloudHelper.ToFIntrinsics, tofToRGBTransform: PointCloudHelper.ToFToRGBTransform, arCameraPose: Pose, confidenceThreshold: Int, maxPoints: Int): Array<FloatBuffer>

Converts Camera2 ToF depth image to 3D world-space points using ARCore tracking.

convertImageToColorBuffer

open fun convertImageToColorBuffer(color: Image, depth: Image, imageCoords: FloatBuffer, pointLimit: Int): FloatBuffer

Creates a linear buffer of RGB color values corresponding to the values in the depth image.

convertImageToToFColorBuffer

open fun convertImageToToFColorBuffer(cameraImage: Image, tofDepthImage: Image, tofIntrinsics: PointCloudHelper.ToFIntrinsics, imageCoords: FloatBuffer, maxPoints: Int): FloatBuffer

Matches RGB colors from ARCore camera image to ToF depth points.

convertRawDepthImagesTo3dPointBuffer

open fun convertRawDepthImagesTo3dPointBuffer(depth: Image, confidence: Image, cameraTextureIntrinsics: CameraIntrinsics, pointLimit: Int): FloatBuffer

Creates a linear buffer of 3D point positions in the world space and the corresponding confidence values.

convertToFDepthAndColorsInOnePass

open fun convertToFDepthAndColorsInOnePass(yuvData: YuvData, rawDepthData: RawDepthData, tofIntrinsics: PointCloudHelper.ToFIntrinsics, imageCoords: FloatBuffer, maxPoints: Int): Array<FloatBuffer>

ULTRA-OPTIMIZED: Fused single-pass ToF depth unprojection + color matching.

convertToFDepthTo3dPointBuffer

open fun convertToFDepthTo3dPointBuffer(tofDepthImage: Image, tofIntrinsics: PointCloudHelper.ToFIntrinsics, maxPoints: Int): FloatBuffer

Converts ToF depth image to 3D points in camera space (matching ARCore convention).

createToFIntrinsics

open fun createToFIntrinsics(characteristics: CameraCharacteristics): PointCloudHelper.ToFIntrinsics

createToFToRGBTransform

open fun createToFToRGBTransform(tofCharacteristics: CameraCharacteristics, rgbCharacteristics: CameraCharacteristics): PointCloudHelper.ToFToRGBTransform

Creates the transform from ToF camera to RGB camera coordinate systems.

getImageCoordinatesForFullTexture

open fun getImageCoordinatesForFullTexture(frame: Frame): FloatBuffer

Calculates the CPU image region that corresponds to the area covered by the depth image.

getImageCoordinatesForToFTexture

open fun getImageCoordinatesForToFTexture(cameraImage: Image, tofIntrinsics: PointCloudHelper.ToFIntrinsics, rgbIntrinsics: CameraIntrinsics): FloatBuffer

Calculates the CPU image region for ToF camera coordinates.

unprojectDepthPixelToWorld

@Nullable

open fun unprojectDepthPixelToWorld(cameraImageX: Int, cameraImageY: Int, cameraImage: Image, depthImage: Image, cameraTextureIntrinsics: CameraIntrinsics, cameraPose: Pose): Vector3

Unprojects a single 2D pixel coordinate (from the camera image) into a 3D world-space coordinate.

unprojectFromBuffers

@Nullable

open fun unprojectFromBuffers(pixelX: Int, pixelY: Int, yuvData: YuvData, rawDepthData: RawDepthData, intrinsics: CameraIntrinsics, cameraPose: Pose): Vector3

Unprojects a 2D pixel coordinate from the camera image to a 3D world-space coordinate.