class_pinhole_projection Class Reference

#include <class_pinhole_projection.h>

Inheritance diagram for class_pinhole_projection:

Public Member Functions
	class_pinhole_projection (void)
int	compute_transformation_matrix (void)
	Computation. More...
	~class_pinhole_projection (void)
int	set_projection_plane (double a, double b, double c, double d)
	Sets and gets. More...
int	project_vertex_to_pixel (const pcl::PointCloud< pcl::PointXYZ >::Ptr v, std::vector< pcl::PointXY > *p)
	Projections. More...
int	project_pixel_to_vertex (const std::vector< pcl::PointXY > *p, pcl::PointCloud< pcl::PointXYZ > *v)
int	project_pixel_with_color_to_vertex (const pcl::PointCloud< pcl::PointXYZRGB > *p, pcl::PointCloud< pcl::PointXYZRGB > *v)
int	print_CvMat (cv::Mat *mat, const char *name)
	Prints. More...
Public Member Functions inherited from class_camera_parameters
	class_camera_parameters (void)
int	set_distortion (double k1, double k2, double p1, double p2, double k3)
int	set_distortion_spherical (double calibration_width, double calibration_height, double cx, double cy, double param, double image_scale=1)
int	set_extrinsic (double p11, double p12, double p13, double p14, double p21, double p22, double p23, double p24, double p31, double p32, double p33, double p34)
	sets extrinsic parameters More...
int	set_extrinsic (tf::StampedTransform *t)
int	set_extrinsic (tf::Transform *t)
int	set_intrinsic (double fx, double fy, double cx, double cy)
	sets intrinsic parameters from a 3x3 CvMat More...
int	set_width_height_num_channels (int w, int h, int nc)
	~class_camera_parameters (void)

Public Attributes
struct {
double   a
double   b
double   c
double   d
}	projection_plane
Public Attributes inherited from class_camera_parameters
tf::StampedTransform	camera_6dof_position
cv::Mat	distortion
cv::Mat	extrinsic
cv::Mat	extrinsic_inverse
int	height
cv::Mat	intrinsic
int	num_channels
std::vector< pcl::PointXY >	pixels_canvas
struct {
double   calibration_height
double   calibration_width
double   cx
double   cy
double   param
double   scale
}	spherical_distortion_params
ros::Time	stamp
cv::Mat	transformation
int	width

Detailed Description

Definition at line 56 of file class_pinhole_projection.h.

Constructor & Destructor Documentation

class_pinhole_projection::class_pinhole_projection ( void  )

inline

Definition at line 60 of file class_pinhole_projection.h.

class_pinhole_projection::~class_pinhole_projection ( void  )

inline

Definition at line 64 of file class_pinhole_projection.h.

Member Function Documentation

int class_pinhole_projection::compute_transformation_matrix

(

void

)

Computation.

int class_pinhole_projection::print_CvMat	(	cv::Mat *	mat,
		const char *	name
	)

Prints.

General printing function of a CvMat.

Parameters

mat	the CvMat matrix to print
name	optional name of the matrix to print

Definition at line 60 of file class_pinhole_projection.cpp.

int class_pinhole_projection::project_pixel_to_vertex	(	const std::vector< pcl::PointXY > *	p,
		pcl::PointCloud< pcl::PointXYZ > *	v
	)

Definition at line 229 of file class_pinhole_projection.cpp.

int class_pinhole_projection::project_pixel_with_color_to_vertex	(	const pcl::PointCloud< pcl::PointXYZRGB > *	p,
		pcl::PointCloud< pcl::PointXYZRGB > *	v
	)

Definition at line 153 of file class_pinhole_projection.cpp.

int class_pinhole_projection::project_vertex_to_pixel	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr	v,
		std::vector< pcl::PointXY > *	p
	)

Projections.

Definition at line 84 of file class_pinhole_projection.cpp.

int class_pinhole_projection::set_projection_plane	(	double	a,
		double	b,
		double	c,
		double	d
	)

Sets and gets.

Sets the values of the projection plane. Values of the plane equation ax + by + cz + d =0.

Returns

RETURN_SUCCESS

Definition at line 47 of file class_pinhole_projection.cpp.

Member Data Documentation

double class_pinhole_projection::a

Definition at line 88 of file class_pinhole_projection.h.

double class_pinhole_projection::b

Definition at line 88 of file class_pinhole_projection.h.

double class_pinhole_projection::c

Definition at line 88 of file class_pinhole_projection.h.

double class_pinhole_projection::d

Definition at line 88 of file class_pinhole_projection.h.

struct { ... } class_pinhole_projection::projection_plane

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The documentation for this class was generated from the following files:

• class_pinhole_projection.h
• class_pinhole_projection.cpp