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<a href="pinhole_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef mrpt_vision_pinhole_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_vision_pinhole_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_t_camera_8h.html">mrpt/utils/TCamera.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2utils_8h.html">mrpt/vision/utils.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>vision
<a name="l00038"></a>00038 {<span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment"> /** Functions related to pinhole camera models, point projections, etc. \ingroup mrpt_vision_grp */</span>
<a name="l00040"></a><a class="code" href="namespacemrpt_1_1vision_1_1pinhole.html">00040</a> <span class="keyword">namespace </span>pinhole
<a name="l00041"></a>00041 {<span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** \addtogroup mrpt_vision_grp </span>
<a name="l00043"></a>00043 <span class="comment"> * @{ */</span>
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="keyword">using</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">::utils::TPixelCoordf</a>;
<a name="l00046"></a>00046 <span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix (undistorted projection model)</span>
<a name="l00048"></a>00048 <span class="comment"> * \param in_points_3D [IN] The list of 3D points in world coordinates (meters) to project.</span>
<a name="l00049"></a>00049 <span class="comment"> * \param cameraPose [IN] The pose of the camera in the world.</span>
<a name="l00050"></a>00050 <span class="comment"> * \param intrinsicParams [IN] The 3x3 calibration matrix. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00051"></a>00051 <span class="comment"> * \param 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.</span>
<a name="l00052"></a>00052 <span class="comment"> * \param accept_points_behind [IN] See the note below.</span>
<a name="l00053"></a>00053 <span class="comment"> *</span>
<a name="l00054"></a>00054 <span class="comment"> * \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.</span>
<a name="l00055"></a>00055 <span class="comment"> *</span>
<a name="l00056"></a>00056 <span class="comment"> * \sa projectPoints_with_distortion, projectPoint_no_distortion</span>
<a name="l00057"></a>00057 <span class="comment"> */</span>
<a name="l00058"></a>00058 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga948d8f70569109fa280c908b84cd3987" title="Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix (undist...">projectPoints_no_distortion</a>(
<a name="l00059"></a>00059 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<mrpt::poses::CPoint3D></a> &in_points_3D,
<a name="l00060"></a>00060 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &cameraPose,
<a name="l00061"></a>00061 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">mrpt::math::CMatrixDouble33</a> & intrinsicParams,
<a name="l00062"></a>00062 <a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> &projectedPoints,
<a name="l00063"></a>00063 <span class="keywordtype">bool</span> accept_points_behind = <span class="keyword">false</span>
<a name="l00064"></a>00064 );
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Project a single 3D point with global coordinates P into a camera at pose F, without distortion parameters.</span>
<a name="l00067"></a>00067 <span class="comment"> * The template argument INVERSE_CAM_POSE is related on how the camera pose "F" is stored:</span>
<a name="l00068"></a>00068 <span class="comment"> * - INVERSE_CAM_POSE:false -> The local coordinates of the feature wrt the camera F are: \f$ P \ominus F \f$</span>
<a name="l00069"></a>00069 <span class="comment"> * - INVERSE_CAM_POSE:true -> The local coordinates of the feature wrt the camera F are: \f$ F \oplus P \f$</span>
<a name="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a>00071 <span class="keyword">template</span> <<span class="keywordtype">bool</span> INVERSE_CAM_POSE>
<a name="l00072"></a><a class="code" href="group__mrpt__vision__grp.html#ga0f1462e4b01333122fadc40c409f55c5">00072</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a> <a class="code" href="group__mrpt__vision__grp.html#ga0f1462e4b01333122fadc40c409f55c5" title="Project a single 3D point with global coordinates P into a camera at pose F, without distortion param...">projectPoint_no_distortion</a>(
<a name="l00073"></a>00073 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> &cam_params,
<a name="l00074"></a>00074 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &F,
<a name="l00075"></a>00075 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &P)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 <span class="keywordtype">double</span> x,<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,z; <span class="comment">// wrt cam (local coords)</span>
<a name="l00078"></a>00078 <span class="keywordflow">if</span> (INVERSE_CAM_POSE)
<a name="l00079"></a>00079 F.<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html#aaabe44aa147e5391009051b49a6d524e" title="An alternative, slightly more efficient way of doing with G and L being 3D points and P this 6D pose...">composePoint</a>(P.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>,P.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>,P.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>, x,y,z);
<a name="l00080"></a>00080 <span class="keywordflow">else</span>
<a name="l00081"></a>00081 F.<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html#ab74dd377deb846d06d5bf91bc6d9682b" title="Computes the 3D point L such as .">inverseComposePoint</a>(P.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>,P.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>,P.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>, x,y,z);
<a name="l00082"></a>00082 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(z!=0)
<a name="l00083"></a>00083 <span class="comment">// Pinhole model:</span>
<a name="l00084"></a>00084 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a>(
<a name="l00085"></a>00085 cam_params.<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#abe3a3d34f75e8dd554a9bf52c9ab6626" title="Get the value of the principal point x-coordinate (in pixels).">cx</a>() + cam_params.<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a7566437233d844a551e3cce5effde1ea" title="Get the value of the focal length x-value (in pixels).">fx</a>() * x/z,
<a name="l00086"></a>00086 cam_params.<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#aaeba6c9dc0e4259ec9d435429c4a9e6e" title="Get the value of the principal point y-coordinate (in pixels).">cy</a>() + cam_params.<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a75c5210381d62848b8c918a438991c55" title="Get the value of the focal length y-value (in pixels).">fy</a>() * y/z );
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> //! \overload </span>
<a name="l00090"></a>00090 <span class="comment"></span> <span class="keyword">template</span> <<span class="keyword">typename</span> POINT>
<a name="l00091"></a><a class="code" href="group__mrpt__vision__grp.html#gadb0682ae91a2314b362985c7895dec73">00091</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="group__mrpt__vision__grp.html#ga0f1462e4b01333122fadc40c409f55c5" title="Project a single 3D point with global coordinates P into a camera at pose F, without distortion param...">projectPoint_no_distortion</a>(
<a name="l00092"></a>00092 <span class="keyword">const</span> POINT &in_point_wrt_cam,
<a name="l00093"></a>00093 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> &cam_params,
<a name="l00094"></a>00094 <a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a> &out_projectedPoints )
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(in_point_wrt_cam.z!=0)
<a name="l00097"></a>00097 <span class="comment">// Pinhole model:</span>
<a name="l00098"></a>00098 out_projectedPoints.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#a5b455008c5b13746df6592727a60e3fb">x</a> = cam_params.<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#abe3a3d34f75e8dd554a9bf52c9ab6626" title="Get the value of the principal point x-coordinate (in pixels).">cx</a>() + cam_params.<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a7566437233d844a551e3cce5effde1ea" title="Get the value of the focal length x-value (in pixels).">fx</a>() * in_point_wrt_cam.x/in_point_wrt_cam.z;
<a name="l00099"></a>00099 out_projectedPoints.<a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html#ae09752b582b6f945ae42ce0879e83f95">y</a> = cam_params.<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#aaeba6c9dc0e4259ec9d435429c4a9e6e" title="Get the value of the principal point y-coordinate (in pixels).">cy</a>() + cam_params.<a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a75c5210381d62848b8c918a438991c55" title="Get the value of the focal length y-value (in pixels).">fy</a>() * in_point_wrt_cam.y/in_point_wrt_cam.z;
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** 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)</span>
<a name="l00104"></a>00104 <span class="comment"> * \param in_points_3D [IN] The list of 3D points in world coordinates (meters) to project.</span>
<a name="l00105"></a>00105 <span class="comment"> * \param cameraPose [IN] The pose of the camera in the world.</span>
<a name="l00106"></a>00106 <span class="comment"> * \param intrinsicParams [IN] The 3x3 calibration matrix. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00107"></a>00107 <span class="comment"> * \param distortionParams [IN] The 4-length vector with the distortion parameters [k1 k2 p1 p2]. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00108"></a>00108 <span class="comment"> * \param 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.</span>
<a name="l00109"></a>00109 <span class="comment"> * \param accept_points_behind [IN] See the note below.</span>
<a name="l00110"></a>00110 <span class="comment"> *</span>
<a name="l00111"></a>00111 <span class="comment"> * \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.</span>
<a name="l00112"></a>00112 <span class="comment"> *</span>
<a name="l00113"></a>00113 <span class="comment"> * \sa projectPoint_with_distortion, projectPoints_no_distortion</span>
<a name="l00114"></a>00114 <span class="comment"> */</span>
<a name="l00115"></a>00115 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga143e30403c5697c2a106c17b75b3daf8" title="Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix and dis...">projectPoints_with_distortion</a>(
<a name="l00116"></a>00116 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<mrpt::poses::CPoint3D></a> &in_points_3D,
<a name="l00117"></a>00117 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &cameraPose,
<a name="l00118"></a>00118 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">mrpt::math::CMatrixDouble33</a> & intrinsicParams,
<a name="l00119"></a>00119 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<double></a> & distortionParams,
<a name="l00120"></a>00120 <a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> &projectedPoints,
<a name="l00121"></a>00121 <span class="keywordtype">bool</span> accept_points_behind = <span class="keyword">false</span>
<a name="l00122"></a>00122 );
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Project one 3D point into a camera using its calibration matrix and distortion parameters (radial and tangential distortions projection model)</span>
<a name="l00125"></a>00125 <span class="comment"> * \param 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.</span>
<a name="l00126"></a>00126 <span class="comment"> * \param in_cam_params [IN] The camera parameters. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00127"></a>00127 <span class="comment"> * \param out_projectedPoints [OUT] The projected point, in pixel units.</span>
<a name="l00128"></a>00128 <span class="comment"> * \param accept_points_behind [IN] See the note below.</span>
<a name="l00129"></a>00129 <span class="comment"> *</span>
<a name="l00130"></a>00130 <span class="comment"> * \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.</span>
<a name="l00131"></a>00131 <span class="comment"> *</span>
<a name="l00132"></a>00132 <span class="comment"> * \sa projectPoints_with_distortion</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a>00134 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga78a4d3f2289990a057df57b20402bfcb" title="Project one 3D point into a camera using its calibration matrix and distortion parameters (radial and...">projectPoint_with_distortion</a>(
<a name="l00135"></a>00135 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &in_point_wrt_cam,
<a name="l00136"></a>00136 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> &in_cam_params,
<a name="l00137"></a>00137 <a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a> &out_projectedPoints,
<a name="l00138"></a>00138 <span class="keywordtype">bool</span> accept_points_behind = <span class="keyword">false</span>
<a name="l00139"></a>00139 );
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> //! \overload</span>
<a name="l00142"></a>00142 <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga143e30403c5697c2a106c17b75b3daf8" title="Project a set of 3D points into a camera at an arbitrary 6D pose using its calibration matrix and dis...">projectPoints_with_distortion</a>(
<a name="l00143"></a>00143 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<mrpt::math::TPoint3D></a> &P,
<a name="l00144"></a>00144 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> &params,
<a name="l00145"></a>00145 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html" title="A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).">CPose3DQuat</a> &cameraPose,
<a name="l00146"></a>00146 <a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> &pixels,
<a name="l00147"></a>00147 <span class="keywordtype">bool</span> accept_points_behind = <span class="keyword">false</span>
<a name="l00148"></a>00148 );
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment"> /** Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients.</span>
<a name="l00152"></a>00152 <span class="comment"> * \param srcDistortedPixels [IN] The pixel coordinates as in the distorted image.</span>
<a name="l00153"></a>00153 <span class="comment"> * \param dstUndistortedPixels [OUT] The computed pixel coordinates without distortion.</span>
<a name="l00154"></a>00154 <span class="comment"> * \param intrinsicParams [IN] The 3x3 calibration matrix. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00155"></a>00155 <span class="comment"> * \param distortionParams [IN] The 4-length vector with the distortion parameters [k1 k2 p1 p2]. See http://www.mrpt.org/Camera_Parameters</span>
<a name="l00156"></a>00156 <span class="comment"> * \sa undistort_point</span>
<a name="l00157"></a>00157 <span class="comment"> */</span>
<a name="l00158"></a>00158 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga36442f7cec4a377cee9d180afc0b3ac6" title="Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortio...">undistort_points</a>(
<a name="l00159"></a>00159 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> &srcDistortedPixels,
<a name="l00160"></a>00160 <a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> &dstUndistortedPixels,
<a name="l00161"></a>00161 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">mrpt::math::CMatrixDouble33</a> & intrinsicParams,
<a name="l00162"></a>00162 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<double></a> & distortionParams );
<a name="l00163"></a>00163 <span class="comment"></span>
<a name="l00164"></a>00164 <span class="comment"> /** Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortion coefficients.</span>
<a name="l00165"></a>00165 <span class="comment"> * \param srcDistortedPixels [IN] The pixel coordinates as in the distorted image.</span>
<a name="l00166"></a>00166 <span class="comment"> * \param dstUndistortedPixels [OUT] The computed pixel coordinates without distortion.</span>
<a name="l00167"></a>00167 <span class="comment"> * \param cameraModel [IN] The camera parameters.</span>
<a name="l00168"></a>00168 <span class="comment"> * \sa undistort_point</span>
<a name="l00169"></a>00169 <span class="comment"> */</span>
<a name="l00170"></a>00170 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga36442f7cec4a377cee9d180afc0b3ac6" title="Undistort a list of points given by their pixel coordinates, provided the camera matrix and distortio...">undistort_points</a>(
<a name="l00171"></a>00171 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> &srcDistortedPixels,
<a name="l00172"></a>00172 <a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> &dstUndistortedPixels,
<a name="l00173"></a>00173 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> &cameraModel);
<a name="l00174"></a>00174 <span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment"> /** Undistort one point given by its pixel coordinates and the camera parameters.</span>
<a name="l00176"></a>00176 <span class="comment"> * \sa undistort_points</span>
<a name="l00177"></a>00177 <span class="comment"> */</span>
<a name="l00178"></a>00178 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gaec6f784e2f55e5476d108ace5182ef5f" title="Undistort one point given by its pixel coordinates and the camera parameters.">undistort_point</a>(
<a name="l00179"></a>00179 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a> &inPt,
<a name="l00180"></a>00180 <a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a> &outPt,
<a name="l00181"></a>00181 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> &cameraModel);
<a name="l00182"></a>00182 <span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00184"></a>00184 }
<a name="l00185"></a>00185 }
<a name="l00186"></a>00186 }
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
