Camera_projection

Files
file	camera_projection.cpp
	performs the projection of a camera image to a polygonal primitive
file	camera_projection.h
	The class camera_projection performs the projection of an image into a polygon plane.

Classes
class	class_camera_projection
	The class camera projection. Provides functionalities to perform projection of an image into a polygon plane. More...

Macros
#define	_CAMERA_PROJECTION_CPP_
#define	PFLN   {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}

Typedefs
typedef cv::Vec< unsigned char, 3 >	t_pixel

Functions
int	class_camera_projection::compute_pixel_list_to_vertex_list (pcl::ModelCoefficientsPtr coeff)
void	class_camera_projection::compute_projectable_pixels (void)
int	class_camera_projection::create_image_canvas (const cv::Mat *image, std::vector< pcl::PointXY > *pts)
	Creates the image canvas pixels list and stores it to. More...
int	class_camera_projection::create_image_canvas_for_known_camera (const cv::Mat *image, std::vector< pcl::PointXY > *pts, std::string name)
int	class_camera_projection::create_polygon_from_pts_list (const pcl::PointCloud< pcl::PointXYZ > *vertexes, pcl::PointCloud< pcl::PointXYZ > *vertices)
int	class_camera_projection::draw_pixels_projectable (cv::Mat *image, pcl::PointCloud< pcl::PointXYZRGB > *pc, const cv::Scalar color, int thickness=1)
int	class_camera_projection::draw_pixels_vector (cv::Mat *image, std::vector< pcl::PointXY > *pts, const cv::Scalar color, int thickness=1)
int	class_camera_projection::draw_pixels_vector_as_polyline (cv::Mat *image, std::vector< pcl::PointXY > *pts, const cv::Scalar color, int thickness)
float	class_camera_projection::get_weight_for_pixel (int l, int c, double resolution_factor, float px, float py, float pz)
int	class_camera_projection::set_image (const cv::Mat *image, ros::Time time, std::string name="none")
	Sets the image to be projected. Also computes the canvas, canny and grid masks. More...
int	class_camera_projection::set_vertex_chull (const pcl::PointCloud< pcl::PointXYZ >::Ptr vertexes)

Detailed Description

Macro Definition Documentation

#define _CAMERA_PROJECTION_CPP_

Definition at line 34 of file camera_projection.cpp.

#define PFLN   {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}

Definition at line 39 of file camera_projection.h.

Typedef Documentation

typedef cv::Vec<unsigned char, 3> t_pixel

Definition at line 64 of file camera_projection.h.

Function Documentation

int class_camera_projection::compute_pixel_list_to_vertex_list

(

pcl::ModelCoefficientsPtr

coeff

)

Definition at line 413 of file camera_projection.cpp.

void class_camera_projection::compute_projectable_pixels

(

void

)

Definition at line 316 of file camera_projection.cpp.

int class_camera_projection::create_image_canvas	(	const cv::Mat *	image,
		std::vector< pcl::PointXY > *	pts
	)

Creates the image canvas pixels list and stores it to.

Parameters

image
pts

Returns

Definition at line 112 of file camera_projection.cpp.

int class_camera_projection::create_image_canvas_for_known_camera	(	const cv::Mat *	image,
		std::vector< pcl::PointXY > *	pts,
		std::string	name
	)

Definition at line 151 of file camera_projection.cpp.

int class_camera_projection::create_polygon_from_pts_list	(	const pcl::PointCloud< pcl::PointXYZ > *	vertexes,
		pcl::PointCloud< pcl::PointXYZ > *	vertices
	)

Definition at line 53 of file camera_projection.cpp.

int class_camera_projection::draw_pixels_projectable	(	cv::Mat *	image,
		pcl::PointCloud< pcl::PointXYZRGB > *	pc,
		const cv::Scalar	color,
		int	thickness = 1
	)

Definition at line 38 of file camera_projection.cpp.

int class_camera_projection::draw_pixels_vector	(	cv::Mat *	image,
		std::vector< pcl::PointXY > *	pts,
		const cv::Scalar	color,
		int	thickness = 1
	)

Definition at line 269 of file camera_projection.cpp.

int class_camera_projection::draw_pixels_vector_as_polyline	(	cv::Mat *	image,
		std::vector< pcl::PointXY > *	pts,
		const cv::Scalar	color,
		int	thickness
	)

Definition at line 278 of file camera_projection.cpp.

float class_camera_projection::get_weight_for_pixel	(	int	l,
		int	c,
		double	resolution_factor,
		float	px,
		float	py,
		float	pz
	)

Definition at line 289 of file camera_projection.cpp.

int class_camera_projection::set_image	(	const cv::Mat *	image,
		ros::Time	time,
		std::string	name = "none"
	)

Sets the image to be projected. Also computes the canvas, canny and grid masks.

Parameters

image	the image to be projected
time	the time stamp of the image
name	the name of the camera from which the image is taken

Returns

1=success, 0=failure

Definition at line 69 of file camera_projection.cpp.

int class_camera_projection::set_vertex_chull

(

const pcl::PointCloud< pcl::PointXYZ >::Ptr

vertexes

)

Definition at line 47 of file camera_projection.cpp.