00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 00029 #ifndef mrpt_vision_pinhole_H 00030 #define mrpt_vision_pinhole_H 00031 00032 #include <mrpt/vision/utils.h> 00033 00034 namespace mrpt 00035 { 00036 namespace vision 00037 { 00039 namespace pinhole 00040 { 00052 void MRPTDLLIMPEXP projectPoints_no_distortion( 00053 const std::vector<mrpt::poses::CPoint3D> &in_points_3D, 00054 const mrpt::poses::CPose3D &cameraPose, 00055 const mrpt::math::CMatrixFloat & intrinsicParams, 00056 std::vector<mrpt::vision::TPixelCoordf> &projectedPoints, 00057 bool accept_points_behind = false 00058 ); 00059 00072 void MRPTDLLIMPEXP projectPoints_with_distortion( 00073 const std::vector<mrpt::poses::CPoint3D> &in_points_3D, 00074 const mrpt::poses::CPose3D &cameraPose, 00075 const mrpt::math::CMatrixFloat & intrinsicParams, 00076 const std::vector<double> & distortionParams, 00077 std::vector<mrpt::vision::TPixelCoordf> &projectedPoints, 00078 bool accept_points_behind = false 00079 ); 00080 } 00081 } 00082 } 00083 00084 #endif
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