Functions related to pinhole camera models, point projections, etc.
Functions | |
void VISION_IMPEXP | 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 | 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 | 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 | 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 | 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 | 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 | 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 | undistort_point (const TPixelCoordf &inPt, TPixelCoordf &outPt, const mrpt::utils::TCamera &cameraModel) |
Undistort one point given by its pixel coordinates and the camera parameters. |
TPixelCoordf mrpt::vision::pinhole::projectPoint_no_distortion | ( | const mrpt::utils::TCamera & | cam_params, |
const mrpt::poses::CPose3D & | F, | ||
const mrpt::math::TPoint3D & | P | ||
) | [inline] |
Project a single 3D point with global coordinates P into a camera at pose F, without distortion parameters.
The template argument INVERSE_CAM_POSE is related on how the camera pose "F" is stored:
Definition at line 69 of file pinhole.h.
References ASSERT_, mrpt::poses::CPose3D::composePoint(), mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, internal::y, and mrpt::math::TPoint3D::z.
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)
in_point_wrt_cam | [IN] The 3D point wrt the camera focus, with +Z=optical axis, +X=righthand in the image plane, +Y=downward in the image plane. |
in_cam_params | [IN] The camera parameters. See http://www.mrpt.org/Camera_Parameters |
out_projectedPoints | [OUT] The projected point, in pixel units. |
accept_points_behind | [IN] See the note below. |
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)
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://www.mrpt.org/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 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 |
||
) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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)
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://www.mrpt.org/Camera_Parameters |
distortionParams | [IN] The 4-length vector with the distortion parameters [k1 k2 p1 p2]. See http://www.mrpt.org/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 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.
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.
srcDistortedPixels | [IN] The pixel coordinates as in the distorted image. |
dstUndistortedPixels | [OUT] The computed pixel coordinates without distortion. |
cameraModel | [IN] The camera parameters. |
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.
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://www.mrpt.org/Camera_Parameters |
distortionParams | [IN] The 4-length vector with the distortion parameters [k1 k2 p1 p2]. See http://www.mrpt.org/Camera_Parameters |
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