camera_pose_calibration.cpp File Reference

#include "camera_pose_calibration_impl.hpp"
#include "camera_pose_calibration.hpp"
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/registration/transformation_estimation_svd.h>
#include <pcl/filters/project_inliers.h>

Include dependency graph for src/camera_pose_calibration.cpp:

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Namespaces
namespace	camera_pose_calibration
Functions
void	camera_pose_calibration::eraseIndices (std::vector< size_t > indices, pcl::PointCloud< pcl::PointXYZ > &cloud)
Eigen::Isometry3d	camera_pose_calibration::findCalibration (cv::Mat const &image, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, cv::Size const pattern_size, double pattern_distance, double neighbor_distance=0.01, double valid_pattern_ratio_threshold=0.7, double point_cloud_scale_x=1.0, double point_cloud_scale_y=1.0, CalibrationInformation *debug_information=NULL)
	Finds the isometry for the asymmetric calibration pattern in the image and pointcloud.
Eigen::Isometry3d	camera_pose_calibration::findCalibration (cv::Mat const &left_image, cv::Mat const &right_image, Eigen::Matrix4d const &reprojection, cv::Size const pattern_size, double pattern_distance)
	Finds the isometry for the asymmetric calibration pattern, given two (undistorted) stereo images and a reprojection matrix.
Eigen::Isometry3d	camera_pose_calibration::findIsometry (pcl::PointCloud< pcl::PointXYZ >::Ptr source, pcl::PointCloud< pcl::PointXYZ >::Ptr target)
	Finds the isometry between two point clouds.
std::vector< size_t >	camera_pose_calibration::findNan (pcl::PointCloud< pcl::PointXYZ > const &cloud)
	Returns the indices with nan value for x, y or z.
pcl::ModelCoefficients::Ptr	camera_pose_calibration::fitPointsToPlane (pcl::PointCloud< pcl::PointXYZ >::ConstPtr cloud)
	Returns the plane parameters of the fit to the input point cloud.
pcl::PointCloud< pcl::PointXYZ > ::Ptr	camera_pose_calibration::generateAsymmetricCircles (double distance, size_t pattern_height, size_t pattern_width)
	Defines the asymmetric circles calibration pattern.
void	camera_pose_calibration::projectCloudOnPlane (pcl::PointCloud< pcl::PointXYZ >::ConstPtr cloud, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_projected, pcl::ModelCoefficients::ConstPtr plane_coefficients)
	Fits a plane to a point cloud and gives the projected point cloud and the plane coefficients.