mrpt::vision::pinhole Namespace Reference
Functions related to pinhole camera models, point projections, etc.
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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).
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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).
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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.
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Detailed Description
Functions related to pinhole camera models, point projections, etc.
Function Documentation
Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix (undistorted projection model).
- Parameters:
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| 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. |
- Note:
- Points "behind" the camera (which couldn't be physically seen in the real world) are marked with pixel coordinates (-1,-1) to detect them as invalid, unless accept_points_behind is true. In that case they'll be projected normally.
- See also:
- projectPoints_with_distortion
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).
- Parameters:
-
| 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. |
- Note:
- Points "behind" the camera (which couldn't be physically seen in the real world) are marked with pixel coordinates (-1,-1) to detect them as invalid, unless accept_points_behind is true. In that case they'll be projected normally.
- See also:
- projectPoints_no_distortion
Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients.
- Parameters:
-