sensor_model_utils.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #ifndef JSK_RECOGNITION_UTILS_SENSOR_MODEL_UTILS_H_
00037 #define JSK_RECOGNITION_UTILS_SENSOR_MODEL_UTILS_H_
00038 
00039 #include <image_geometry/pinhole_camera_model.h>
00040 #include "jsk_recognition_utils/geo_util.h"
00041 
00042 namespace jsk_recognition_utils
00043 {
00044 
00050   inline cv::Point
00051   project3DPointToPixel(const image_geometry::PinholeCameraModel& model,
00052                         const Eigen::Vector3f& p)
00053   {
00054     return model.project3dToPixel(cv::Point3d(p[0], p[1], p[2]));
00055   }
00056 
00062   std::vector<cv::Point>
00063   project3DPointstoPixel(const image_geometry::PinholeCameraModel& model,
00064                          const Vertices& vertices);
00065                          
00066 }
00067 
00068 
00069 #endif


jsk_recognition_utils
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autogenerated on Sun Oct 8 2017 02:42:48