objectprojection.cpp File Reference

#include <openrave-core.h>
#include <vector>
#include <cstring>
#include <sstream>

Include dependency graph for objectprojection.cpp:

Go to the source code of this file.

Functions
void	GetContactPointsFromImageRays (KinBodyPtr pbody, const vector< Vector > &vcamerapoints, const Transform &tcamera, vector< Vector > &vobjectpoints)
int	main (int argc, char **argv)

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Function Documentation

void GetContactPointsFromImageRays	(	KinBodyPtr	pbody,
		const vector< Vector > &	vcamerapoints,
		const Transform &	tcamera,
		vector< Vector > &	vobjectpoints
	)

vcamerapoints is a vector of 2D points in camera space (multiplied by K^-1) tcamera is the transformation of the camera with respect to the object (ie tobject^-1)

vobjectpoints is the output 3D points on the object coordinate system

Definition at line 13 of file objectprojection.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 34 of file objectprojection.cpp.