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<div class="title">pinhole.h File Reference</div> </div>
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<div class="textblock"><code>#include <<a class="el" href="_t_camera_8h_source.html">mrpt/utils/TCamera.h</a>></code><br/>
<code>#include <<a class="el" href="vision_2include_2mrpt_2vision_2utils_8h_source.html">mrpt/vision/utils.h</a>></code><br/>
</div><div class="textblock"><div class="dynheader">
Include dependency graph for pinhole.h:</div>
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<div class="center"><img src="pinhole_8h__incl.png" border="0" usemap="#pinhole_8h" alt=""/></div>
<map name="pinhole_8h" id="pinhole_8h">
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<p><a href="pinhole_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
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<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1vision.html">mrpt::vision</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Classes for computer vision, detectors, features, etc. </p>
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<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1vision_1_1pinhole.html">mrpt::vision::pinhole</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Functions related to pinhole camera models, point projections, etc. </p>
<br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga948d8f70569109fa280c908b84cd3987">mrpt::vision::pinhole::projectPoints_no_distortion</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">mrpt::poses::CPoint3D</a> > &in_points_3D, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &cameraPose, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">mrpt::math::CMatrixDouble33</a> &intrinsicParams, <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > &projectedPoints, bool accept_points_behind=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix (undistorted projection model) <a href="group__mrpt__vision__grp.html#ga948d8f70569109fa280c908b84cd3987"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<bool INVERSE_CAM_POSE> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">TPixelCoordf </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga0f1462e4b01333122fadc40c409f55c5">mrpt::vision::pinhole::projectPoint_no_distortion</a> (const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &cam_params, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &F, const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &P)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Project a single 3D point with global coordinates P into a camera at pose F, without distortion parameters. <a href="group__mrpt__vision__grp.html#ga0f1462e4b01333122fadc40c409f55c5"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename POINT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gadb0682ae91a2314b362985c7895dec73">mrpt::vision::pinhole::projectPoint_no_distortion</a> (const POINT &in_point_wrt_cam, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &cam_params, TPixelCoordf &out_projectedPoints)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga143e30403c5697c2a106c17b75b3daf8">mrpt::vision::pinhole::projectPoints_with_distortion</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">mrpt::poses::CPoint3D</a> > &in_points_3D, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &cameraPose, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">mrpt::math::CMatrixDouble33</a> &intrinsicParams, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< double > &distortionParams, <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > &projectedPoints, bool accept_points_behind=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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) <a href="group__mrpt__vision__grp.html#ga143e30403c5697c2a106c17b75b3daf8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga78a4d3f2289990a057df57b20402bfcb">mrpt::vision::pinhole::projectPoint_with_distortion</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &in_point_wrt_cam, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &in_cam_params, TPixelCoordf &out_projectedPoints, bool accept_points_behind=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Project one 3D point into a camera using its calibration matrix and distortion parameters (radial and tangential distortions projection model) <a href="group__mrpt__vision__grp.html#ga78a4d3f2289990a057df57b20402bfcb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gad2c793bc2a3c1552e3084228f90171e7">mrpt::vision::pinhole::projectPoints_with_distortion</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> > &P, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &params, const CPose3DQuat &cameraPose, <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > &pixels, bool accept_points_behind=false)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga36442f7cec4a377cee9d180afc0b3ac6">mrpt::vision::pinhole::undistort_points</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > &srcDistortedPixels, <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > &dstUndistortedPixels, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">mrpt::math::CMatrixDouble33</a> &intrinsicParams, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< double > &distortionParams)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients. <a href="group__mrpt__vision__grp.html#ga36442f7cec4a377cee9d180afc0b3ac6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga34c41fd5660ccdbcd49b7733a41824f8">mrpt::vision::pinhole::undistort_points</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > &srcDistortedPixels, <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > &dstUndistortedPixels, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &cameraModel)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients. <a href="group__mrpt__vision__grp.html#ga34c41fd5660ccdbcd49b7733a41824f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gaec6f784e2f55e5476d108ace5182ef5f">mrpt::vision::pinhole::undistort_point</a> (const TPixelCoordf &inPt, TPixelCoordf &outPt, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &cameraModel)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Undistort one point given by its pixel coordinates and the camera parameters. <a href="group__mrpt__vision__grp.html#gaec6f784e2f55e5476d108ace5182ef5f"></a><br/></td></tr>
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