rve_geometry Namespace Reference

Classes
struct	Plane
class	Ray
Functions
static Eigen::Matrix3f	compute_view_to_robot ()
static Eigen::Matrix4f	getViewMatrix (const rve_render_client::CameraPtr &camera)
bool	screenToWorld (const Plane &world_plane, const rve_render_client::CameraPtr &camera, int screen_x, int screen_y, int screen_width, int screen_height, rve_msgs::Vector3 *position_output)
Variables
static Eigen::Matrix3f	robot_to_view = view_to_robot.inverse()
static Eigen::Matrix3f	view_to_robot = compute_view_to_robot()

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Function Documentation

static Eigen::Matrix3f rve_geometry::compute_view_to_robot

(

)

[static]

Definition at line 84 of file screen_to_world.cpp.

static Eigen::Matrix4f rve_geometry::getViewMatrix

(

const rve_render_client::CameraPtr &

camera

)

[static]

Definition at line 100 of file screen_to_world.cpp.

bool rve_geometry::screenToWorld	(	const Plane &	world_plane,
		const rve_render_client::CameraPtr &	camera,
		int	screen_x,
		int	screen_y,
		int	screen_width,
		int	screen_height,
		rve_msgs::Vector3 *	position_output
	)

Given a plane, a point on the screen, the size of the screen, and a camera, find the point on the plane in world coordinates which corresponds to the point on the screen.

Parameters:

world_plane	Target plane in world coordinates.
camera	Provides projection matrix, position, and orientation.
screen_x	X pixel coordinate of query point.
screen_y	Y pixel coordinate of query point.
screen_width	Width in pixels of screen rendered by camera.
screen_height	Height in pixels of screen rendered by camera.
position_output	If non-null, the output point is stored here. If the screen point does not hit the plane, this is left unchanged.

Returns:

true if the screen point does map onto the plane, false if it does not.

Definition at line 151 of file screen_to_world.cpp.

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Variable Documentation

Eigen::Matrix3f rve_geometry::robot_to_view = view_to_robot.inverse() [static]

Definition at line 96 of file screen_to_world.cpp.

Eigen::Matrix3f rve_geometry::view_to_robot = compute_view_to_robot() [static]

Definition at line 95 of file screen_to_world.cpp.