namespace mrpt::vision::pinhole
Overview
Functions related to pinhole camera models, point projections, etc.
mrpt_vision_grp
namespace pinhole { // global functions void projectPoints_no_distortion( const std::vector<mrpt::math::TPoint3D>& in_points_3D, const mrpt::poses::CPose3D& cameraPose, const mrpt::math::CMatrixDouble33& intrinsicParams, std::vector<mrpt::img::TPixelCoordf>& projectedPoints, bool accept_points_behind = false ); template <bool INVERSE_CAM_POSE> mrpt::img::TPixelCoordf projectPoint_no_distortion(const mrpt::img::TCamera& cam_params, const mrpt::poses::CPose3D& F, const mrpt::math::TPoint3D& P); template <typename POINT> void projectPoint_no_distortion( const POINT& in_point_wrt_cam, const mrpt::img::TCamera& cam_params, mrpt::img::TPixelCoordf& out_projectedPoints ); void projectPoints_with_distortion( const std::vector<mrpt::math::TPoint3D>& in_points_3D, const mrpt::poses::CPose3D& cameraPose, const mrpt::math::CMatrixDouble33& intrinsicParams, const std::vector<double>& distortionParams, std::vector<mrpt::img::TPixelCoordf>& projectedPoints, bool accept_points_behind = false ); void projectPoint_with_distortion( const mrpt::math::TPoint3D& in_point_wrt_cam, const mrpt::img::TCamera& in_cam_params, mrpt::img::TPixelCoordf& out_projectedPoints, bool accept_points_behind = false ); void projectPoints_with_distortion( const std::vector<mrpt::math::TPoint3D>& P, const mrpt::img::TCamera& params, const mrpt::poses::CPose3DQuat& cameraPose, std::vector<mrpt::img::TPixelCoordf>& pixels, bool accept_points_behind = false ); void undistort_points( const std::vector<mrpt::img::TPixelCoordf>& srcDistortedPixels, std::vector<mrpt::img::TPixelCoordf>& dstUndistortedPixels, const mrpt::math::CMatrixDouble33& intrinsicParams, const std::vector<double>& distortionParams ); void undistort_points( const std::vector<mrpt::img::TPixelCoordf>& srcDistortedPixels, std::vector<mrpt::img::TPixelCoordf>& dstUndistortedPixels, const mrpt::img::TCamera& cameraModel ); void undistort_point(const mrpt::img::TPixelCoordf& inPt, mrpt::img::TPixelCoordf& outPt, const mrpt::img::TCamera& cameraModel); } // namespace pinhole