#include <mrpt/utils/TCamera.h>
#include <mrpt/vision/utils.h>
Go to the source code of this file.
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 ¶ms, 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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