77 lines
3.3 KiB
C
77 lines
3.3 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/types.h>
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#include <pcl/point_cloud.h> // for PointCloud
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#include <Eigen/Core> // for Matrix, RowMajor, Matrix3f
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/**
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* \file common/geometry.h
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* Defines some geometrical functions and utility functions
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* \ingroup common
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*/
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/*@{*/
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namespace pcl
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{
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/** \brief Estimates the projection matrix P = K * (R|-R*t) from organized point clouds, with
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* K = [[fx, s, cx], [0, fy, cy], [0, 0, 1]]
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* R = rotation matrix and
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* t = translation vector
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*
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* \param[in] cloud input cloud. Must be organized and from a projective device. e.g. stereo or kinect, ...
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* \param[out] projection_matrix output projection matrix
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* \param[in] indices The indices to be used to determine the projection matrix
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* \return the resudial error. A high residual indicates, that the point cloud was not from a projective device.
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*/
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template<typename PointT> double
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estimateProjectionMatrix (typename pcl::PointCloud<PointT>::ConstPtr cloud, Eigen::Matrix<float, 3, 4, Eigen::RowMajor>& projection_matrix, const Indices& indices = {});
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/** \brief Determines the camera matrix from the given projection matrix.
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* \note This method does NOT use a RQ decomposition, but uses the fact that the left 3x3 matrix P' of P squared eliminates the rotational part.
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* P' = K * R -> P' * P'^T = K * R * R^T * K = K * K^T
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* \param[in] projection_matrix
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* \param[out] camera_matrix
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*/
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PCL_EXPORTS void
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getCameraMatrixFromProjectionMatrix (const Eigen::Matrix<float, 3, 4, Eigen::RowMajor>& projection_matrix, Eigen::Matrix3f& camera_matrix);
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}
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#include <pcl/common/impl/projection_matrix.hpp>
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