rs2_transform_point_to_point

[scottrpaterson]

Camera Model - D435i
Operating System & Version - Windows 10
Language - Python

Issue Description

In the documentation (https://intelrealsense.github.io/librealsense/python_docs/_generated/pyrealsense2.html) I'm not seeing what parameters the function rs2_transform_point_to_point accepts. Is there better documentation somewhere?

How do I use this function? I'm trying to move my viewpoint to a robot arm end effector.

[MartyG-RealSense]

I found a Python script that makes use of it to act as a reference for you.

#1231 (comment)

The 'Extrinsic Camera Parameters' of the Librealsense SDK's projection documentation also provides some explanation about use of rs2_transform_point_to_point

https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20#section-extrinsic-camera-parameters

It says: "Knowing the extrinsic parameters between two streams allows you to transform points from one coordinate space to another, which can be done by calling rs2_transform_point_to_point. This operation is defined as a standard affine transformation using a 3x3 rotation matrix and a 3-component translation vector".

This documentation section in turn links to another code example for use of the instruction.

librealsense/include/librealsense2/rsutil.h

Line 68 in 5e73f7b

/* Transform 3D coordinates relative to one sensor to 3D coordinates relative to another viewpoint */

[RealSenseCustomerSupport]

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Hi @scottrpaterson,

rs2_transform_point_to_point function transforms points from one coordinate space to another.
The function accepts following parameters :

• "rs2_extrinsics" struct that contains parameters describing relationship between the separate 3D coordinate systems.
• 3D point coordinates.

Please let us know if you need any further assistance with this matter.
Thank you!