Functions | |
void MRPTDLLIMPEXP | projectPoints_no_distortion (const std::vector< mrpt::poses::CPoint3D > &in_points_3D, const mrpt::poses::CPose3D &cameraPose, const mrpt::math::CMatrixFloat &intrinsicParams, std::vector< mrpt::vision::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). | |
void MRPTDLLIMPEXP | projectPoints_with_distortion (const std::vector< mrpt::poses::CPoint3D > &in_points_3D, const mrpt::poses::CPose3D &cameraPose, const mrpt::math::CMatrixFloat &intrinsicParams, const std::vector< double > &distortionParams, std::vector< mrpt::vision::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 MRPTDLLIMPEXP | undistort_points (const std::vector< mrpt::vision::TPixelCoordf > &srcDistortedPixels, std::vector< mrpt::vision::TPixelCoordf > &dstUndistortedPixels, const mrpt::math::CMatrixFloat &intrinsicParams, const std::vector< double > &distortionParams) |
Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients. |
void MRPTDLLIMPEXP mrpt::vision::pinhole::projectPoints_no_distortion | ( | const std::vector< mrpt::poses::CPoint3D > & | in_points_3D, | |
const mrpt::poses::CPose3D & | cameraPose, | |||
const mrpt::math::CMatrixFloat & | intrinsicParams, | |||
std::vector< mrpt::vision::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).
in_points_3D | [IN] The list of 3D points in world coordinates (meters) to project. | |
cameraPose | [IN] The pose of the camera in the world. | |
intrinsicParams | [IN] The 3x3 calibration matrix. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters | |
projectedPoints | [OUT] The list of image coordinates (in pixels) for the projected points. At output this list is resized to the same number of input points. | |
accept_points_behind | [IN] See the note below. |
void MRPTDLLIMPEXP mrpt::vision::pinhole::projectPoints_with_distortion | ( | const std::vector< mrpt::poses::CPoint3D > & | in_points_3D, | |
const mrpt::poses::CPose3D & | cameraPose, | |||
const mrpt::math::CMatrixFloat & | intrinsicParams, | |||
const std::vector< double > & | distortionParams, | |||
std::vector< mrpt::vision::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).
in_points_3D | [IN] The list of 3D points in world coordinates (meters) to project. | |
cameraPose | [IN] The pose of the camera in the world. | |
intrinsicParams | [IN] The 3x3 calibration matrix. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters | |
distortionParams | [IN] The 4-length vector with the distortion parameters [k1 k2 p1 p2]. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters | |
projectedPoints | [OUT] The list of image coordinates (in pixels) for the projected points. At output this list is resized to the same number of input points. | |
accept_points_behind | [IN] See the note below. |
void MRPTDLLIMPEXP mrpt::vision::pinhole::undistort_points | ( | const std::vector< mrpt::vision::TPixelCoordf > & | srcDistortedPixels, | |
std::vector< mrpt::vision::TPixelCoordf > & | dstUndistortedPixels, | |||
const mrpt::math::CMatrixFloat & | intrinsicParams, | |||
const std::vector< double > & | distortionParams | |||
) |
Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients.
srcDistortedPixels | [IN] The pixel coordinates as in the distorted image. | |
dstUndistortedPixels | [OUT] The computed pixel coordinates without distortion. | |
intrinsicParams | [IN] The 3x3 calibration matrix. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters | |
distortionParams | [IN] The 4-length vector with the distortion parameters [k1 k2 p1 p2]. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters |
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