projection_2D.h File Reference

Workspace transformation from the image coordinates to the world coordinates Simple ground projection is used. More...

#include <ucl_drone/ucl_drone.h>
#include <ros/package.h>
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>
#include <pcl/visualization/point_cloud_geometry_handlers.h>
#include <pcl/common/common_headers.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/point_cloud.h>
#include <boost/shared_ptr.hpp>
#include <boost/thread/thread.hpp>
#include <sensor_msgs/image_encodings.h>
#include <ucl_drone/PointXYZRGBSIFT.h>
#include <ucl_drone/Pose3D.h>
#include <ucl_drone/ProcessedImageMsg.h>
#include <ucl_drone/TargetDetected.h>
#include <ucl_drone/opencv_utils.h>
#include <ucl_drone/read_from_launch.h>

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Defines
#define	PCL_NO_PRECOMPILE
Functions
void	projection_2D (std::vector< cv::Point2f > &points_in, ucl_drone::Pose3D &pose, std::vector< cv::Point3f > &points_out, bool h_flag=false)

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Detailed Description

Workspace transformation from the image coordinates to the world coordinates Simple ground projection is used.

Authors:

Arnaud Jacques & Alexandre Leclere

Definition in file projection_2D.h.

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Define Documentation

#define PCL_NO_PRECOMPILE

Definition at line 10 of file projection_2D.h.

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Function Documentation

void projection_2D	(	std::vector< cv::Point2f > &	points_in,
		ucl_drone::Pose3D &	pose,
		std::vector< cv::Point3f > &	points_out,
		bool	h_flag
	)

This function computes the ground projection

Parameters:

[in]	points_in,:	OpenCV 2D points to be projected, in the OpenCV image coordinates
[in]	pose,:	pose of the drone from which keypoints were detected
[out]	points_out,:	OpenCV 3D points, result of the projection in world coordiantes
[in]	h_flag,:	set this boolean to true if the drone don't publish its sensors (when not flying)

converts a point in an image in openCV format to a mappoint in OpenCV format. 2015-2016 version

Definition at line 49 of file projection_2D.cpp.