mrpt::vision::pinhole Namespace Reference

Detailed Description

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

mrpt_vision_grp

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)
	Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix (undistorted projection model) More...
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)
	Project a single 3D point with global coordinates P into a camera at pose F, without distortion parameters. More...
template<typename POINT >
void	projectPoint_no_distortion (const POINT &in_point_wrt_cam, const mrpt::img::TCamera &cam_params, mrpt::img::TPixelCoordf &out_projectedPoints)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
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)
	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) More...
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)
	Project one 3D point into a camera using its calibration matrix and distortion parameters (radial and tangential distortions projection model) More...
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)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
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)
	Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients. More...
void	undistort_points (const std::vector< mrpt::img::TPixelCoordf > &srcDistortedPixels, std::vector< mrpt::img::TPixelCoordf > &dstUndistortedPixels, const mrpt::img::TCamera &cameraModel)
	Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients. More...
void	undistort_point (const mrpt::img::TPixelCoordf &inPt, mrpt::img::TPixelCoordf &outPt, const mrpt::img::TCamera &cameraModel)
	Undistort one point given by its pixel coordinates and the camera parameters. More...