1 /* 2 * Software License Agreement (BSD License) 3 * 4 * Point Cloud Library (PCL) - www.pointclouds.org 5 * Copyright (c) 2012-, Open Perception, Inc. 6 * 7 * All rights reserved. 8 * 9 * Redistribution and use in source and binary forms, with or without 10 * modification, are permitted provided that the following conditions 11 * are met: 12 * 13 * * Redistributions of source code must retain the above copyright 14 * notice, this list of conditions and the following disclaimer. 15 * * Redistributions in binary form must reproduce the above 16 * copyright notice, this list of conditions and the following 17 * disclaimer in the documentation and/or other materials provided 18 * with the distribution. 19 * * Neither the name of the copyright holder(s) nor the names of its 20 * contributors may be used to endorse or promote products derived 21 * from this software without specific prior written permission. 22 * 23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 34 * POSSIBILITY OF SUCH DAMAGE. 35 * 36 */ 37 38 #pragma once 39 40 #include <pcl/types.h> 41 #include <pcl/point_cloud.h> // for PointCloud 42 #include <Eigen/Core> // for Matrix, RowMajor, Matrix3f 43 44 /** 45 * \file common/geometry.h 46 * Defines some geometrical functions and utility functions 47 * \ingroup common 48 */ 49 50 /*@{*/ 51 namespace pcl 52 { 53 /** \brief Estimates the projection matrix P = K * (R|-R*t) from organized point clouds, with 54 * K = [[fx, s, cx], [0, fy, cy], [0, 0, 1]] 55 * R = rotation matrix and 56 * t = translation vector 57 * 58 * \param[in] cloud input cloud. Must be organized and from a projective device. e.g. stereo or kinect, ... 59 * \param[out] projection_matrix output projection matrix 60 * \param[in] indices The indices to be used to determine the projection matrix 61 * \return the resudial error. A high residual indicates, that the point cloud was not from a projective device. 62 */ 63 template<typename PointT> double 64 estimateProjectionMatrix (typename pcl::PointCloud<PointT>::ConstPtr cloud, Eigen::Matrix<float, 3, 4, Eigen::RowMajor>& projection_matrix, const Indices& indices = {}); 65 66 /** \brief Determines the camera matrix from the given projection matrix. 67 * \note This method does NOT use a RQ decomposition, but uses the fact that the left 3x3 matrix P' of P squared eliminates the rotational part. 68 * P' = K * R -> P' * P'^T = K * R * R^T * K = K * K^T 69 * \param[in] projection_matrix 70 * \param[out] camera_matrix 71 */ 72 PCL_EXPORTS void 73 getCameraMatrixFromProjectionMatrix (const Eigen::Matrix<float, 3, 4, Eigen::RowMajor>& projection_matrix, Eigen::Matrix3f& camera_matrix); 74 } 75 76 #include <pcl/common/impl/projection_matrix.hpp> 77