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pinhole.h File Reference

#include <mrpt/utils/TCamera.h>
#include <mrpt/vision/utils.h>
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Namespaces

namespace  mrpt
 

This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.


namespace  mrpt::vision
 

Classes for computer vision, detectors, features, etc.


namespace  mrpt::vision::pinhole
 

Functions related to pinhole camera models, point projections, etc.


Functions

void VISION_IMPEXP mrpt::vision::pinhole::projectPoints_no_distortion (const std::vector< mrpt::poses::CPoint3D > &in_points_3D, const mrpt::poses::CPose3D &cameraPose, const mrpt::math::CMatrixDouble33 &intrinsicParams, std::vector< TPixelCoordf > &projectedPoints, bool accept_points_behind=false)
 Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix (undistorted projection model)
template<bool INVERSE_CAM_POSE>
TPixelCoordf mrpt::vision::pinhole::projectPoint_no_distortion (const mrpt::utils::TCamera &cam_params, const mrpt::poses::CPose3D &F, const mrpt::math::TPoint3D &P)
 Project a single 3D point with global coordinates P into a camera at pose F, without distortion parameters.
void VISION_IMPEXP mrpt::vision::pinhole::projectPoints_with_distortion (const std::vector< mrpt::poses::CPoint3D > &in_points_3D, const mrpt::poses::CPose3D &cameraPose, const mrpt::math::CMatrixDouble33 &intrinsicParams, const std::vector< double > &distortionParams, std::vector< TPixelCoordf > &projectedPoints, bool accept_points_behind=false)
 Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix and distortion parameters (radial and tangential distortions projection model)
void VISION_IMPEXP mrpt::vision::pinhole::projectPoint_with_distortion (const mrpt::math::TPoint3D &in_point_wrt_cam, const mrpt::utils::TCamera &in_cam_params, TPixelCoordf &out_projectedPoints, bool accept_points_behind=false)
 Project one 3D point into a camera using its calibration matrix and distortion parameters (radial and tangential distortions projection model)
void VISION_IMPEXP mrpt::vision::pinhole::projectPoints_with_distortion (const std::vector< mrpt::math::TPoint3D > &P, const mrpt::utils::TCamera &params, const CPose3DQuat &cameraPose, std::vector< TPixelCoordf > &pixels, bool accept_points_behind=false)
void VISION_IMPEXP mrpt::vision::pinhole::undistort_points (const std::vector< TPixelCoordf > &srcDistortedPixels, std::vector< TPixelCoordf > &dstUndistortedPixels, const mrpt::math::CMatrixDouble33 &intrinsicParams, const std::vector< double > &distortionParams)
 Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients.
void VISION_IMPEXP mrpt::vision::pinhole::undistort_points (const std::vector< TPixelCoordf > &srcDistortedPixels, std::vector< TPixelCoordf > &dstUndistortedPixels, const mrpt::utils::TCamera &cameraModel)
 Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients.
void VISION_IMPEXP mrpt::vision::pinhole::undistort_point (const TPixelCoordf &inPt, TPixelCoordf &outPt, const mrpt::utils::TCamera &cameraModel)
 Undistort one point given by its pixel coordinates and the camera parameters.



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