sensor_model_utils.cpp
Go to the documentation of this file.
1 // -*- mode: c++ -*-
2 /*********************************************************************
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2015, JSK Lab
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/o2r other materials provided
17  * with the distribution.
18  * * Neither the name of the JSK Lab nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *********************************************************************/
35 #define BOOST_PARAMETER_MAX_ARITY 7
37 
38 namespace jsk_recognition_utils
39 {
40  std::vector<cv::Point>
42  const Vertices& vertices)
43  {
44  std::vector<cv::Point> ret;
45  for (size_t i = 0; i < vertices.size(); i++) {
46  cv::Point p = project3DPointToPixel(model, vertices[i]);
47  ret.push_back(p);
48  }
49  return ret;
50  }
51 
52 }
cv::Point project3DPointToPixel(const image_geometry::PinholeCameraModel &model, const Eigen::Vector3f &p)
Project 3d point represented in Eigen::Vector3f to 2d point using model.
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > Vertices
Definition: types.h:48
p
std::vector< cv::Point > project3DPointstoPixel(const image_geometry::PinholeCameraModel &model, const Vertices &vertices)
Project array of 3d point represented in Eigen::Vector3f to 2d point using model. ...


jsk_recognition_utils
Author(s):
autogenerated on Wed May 27 2020 03:59:48