#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>
Go to the source code of this file.
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. |