Class PitchAndRollEstimator

Defined in File image_warp_util.h

Class Documentation

class PitchAndRollEstimator

A class for estimating image warping based on perspective distortion. Primarily intended for use with downward-facing camera methods.

Public Functions

inline PitchAndRollEstimator(): Constructor.

cv::Mat EstimateNominalAngle(double &nominal_pitch, double &nominal_roll, bool show_image_diff, rclcpp::Logger logger = rclcpp::get_logger("swri_image_util"))

Estimates the nominal pitch and roll of the camera (from perfectly vertical) from two overlapping images.

Returns:: Returns the rotation matrix for the computed pitch and roll

Public Static Functions

static cv::Mat EstimateNominalAngle(const cv::Mat &points1, const cv::Mat &points2, const cv::Size &image_size, double &nominal_pitch, double &nominal_roll)

Estimates the nominal pitch and roll of the camera (from perfectly vertical) from two overlapping images.

Returns:: Returns the rotation matrix for the computed pitch and roll