pinhole.h File Reference

#include <mrpt/vision/utils.h>

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Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
namespace	mrpt::vision
	Classes for computer vision, detectors, features, etc.
namespace	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::poses::CPoint3D > &in_points_3D, const mrpt::poses::CPose3D &cameraPose, const mrpt::math::CMatrixDouble33 &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 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< 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 VISION_IMPEXP	mrpt::vision::pinhole::undistort_points (const std::vector< mrpt::vision::TPixelCoordf > &srcDistortedPixels, std::vector< mrpt::vision::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.