camera_pose_calibration_impl.hpp

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/*
 * Copyright 2016 Delft Robotics B.V.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#pragma once

#include <opencv2/opencv.hpp>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>

#include <Eigen/Dense>
#include <Eigen/Geometry>

#include <boost/optional.hpp>

namespace camera_pose_calibration {

pcl::ModelCoefficients::Ptr fitPointsToPlane(
        pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud   
);

std::vector<size_t> findNan(
        pcl::PointCloud<pcl::PointXYZ> const & cloud     
);

pcl::PointCloud<pcl::PointXYZ>::Ptr generateAsymmetricCircles(
        double distance,                            
        size_t pattern_height,                      
        size_t pattern_width                        
);

void projectCloudOnPlane(
        pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud,       
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected,  
        pcl::ModelCoefficients::ConstPtr plane_coefficients   
);

void eraseIndices(
        std::vector<size_t> indices,                
        pcl::PointCloud<pcl::PointXYZ> & cloud      
);

Eigen::Isometry3d findIsometry(
        pcl::PointCloud<pcl::PointXYZ>::Ptr source, 
        pcl::PointCloud<pcl::PointXYZ>::Ptr target  
);

}