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pinhole.h File Reference
#include <mrpt/utils/TCamera.h>
#include <mrpt/vision/utils.h>
#include <mrpt/poses/poses_frwds.h>
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Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::vision
 Classes for computer vision, detectors, features, etc.
 
 mrpt::vision::pinhole
 Functions related to pinhole camera models, point projections, etc.
 

Functions

void VISION_IMPEXP mrpt::vision::pinhole::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::utils::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::utils::TPixelCoordf mrpt::vision::pinhole::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. More...
 
template<typename POINT >
void mrpt::vision::pinhole::projectPoint_no_distortion (const POINT &in_point_wrt_cam, const mrpt::utils::TCamera &cam_params, mrpt::utils::TPixelCoordf &out_projectedPoints)
 
void VISION_IMPEXP mrpt::vision::pinhole::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::utils::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 VISION_IMPEXP mrpt::vision::pinhole::projectPoint_with_distortion (const mrpt::math::TPoint3D &in_point_wrt_cam, const mrpt::utils::TCamera &in_cam_params, mrpt::utils::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 VISION_IMPEXP mrpt::vision::pinhole::projectPoints_with_distortion (const std::vector< mrpt::math::TPoint3D > &P, const mrpt::utils::TCamera &params, const mrpt::poses::CPose3DQuat &cameraPose, std::vector< mrpt::utils::TPixelCoordf > &pixels, bool accept_points_behind=false)
 
void VISION_IMPEXP mrpt::vision::pinhole::undistort_points (const std::vector< mrpt::utils::TPixelCoordf > &srcDistortedPixels, std::vector< mrpt::utils::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 VISION_IMPEXP mrpt::vision::pinhole::undistort_points (const std::vector< mrpt::utils::TPixelCoordf > &srcDistortedPixels, std::vector< mrpt::utils::TPixelCoordf > &dstUndistortedPixels, const mrpt::utils::TCamera &cameraModel)
 Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients. More...
 
void VISION_IMPEXP mrpt::vision::pinhole::undistort_point (const mrpt::utils::TPixelCoordf &inPt, mrpt::utils::TPixelCoordf &outPt, const mrpt::utils::TCamera &cameraModel)
 Undistort one point given by its pixel coordinates and the camera parameters. More...
 



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