Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/common/include/pcl/common/projection_matrix.h
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Point Cloud Library (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2012-, Open Perception, Inc.
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of the copyright holder(s) nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  */
00037 
00038 #ifndef __PCL_ORGANIZED_PROJECTION_MATRIX_H__
00039 #define __PCL_ORGANIZED_PROJECTION_MATRIX_H__
00040 
00041 #include <pcl/common/eigen.h>
00042 #include <pcl/console/print.h>
00043 
00044 /**
00045   * \file common/geometry.h
00046   * Defines some geometrical functions and utility functions
00047   * \ingroup common
00048   */
00049 
00050 /*@{*/
00051 namespace pcl
00052 {
00053   template <typename T> class PointCloud;
00054 
00055   /** \brief Estimates the projection matrix P = K * (R|-R*t) from organized point clouds, with
00056     *        K = [[fx, s, cx], [0, fy, cy], [0, 0, 1]]
00057     *        R = rotation matrix and
00058     *        t = translation vector  
00059     * 
00060     * \param[in] cloud input cloud. Must be organized and from a projective device. e.g. stereo or kinect, ...
00061     * \param[out] projection_matrix output projection matrix
00062     * \param[in] indices The indices to be used to determine the projection matrix 
00063     * \return the resudial error. A high residual indicates, that the point cloud was not from a projective device.
00064     */
00065   template<typename PointT> double
00066   estimateProjectionMatrix (typename pcl::PointCloud<PointT>::ConstPtr cloud, Eigen::Matrix<float, 3, 4, Eigen::RowMajor>& projection_matrix, const std::vector<int>& indices = std::vector<int> ());
00067   
00068   /** \brief Determines the camera matrix from the given projection matrix.
00069     * \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.
00070     *       P' = K * R -> P' * P'^T = K * R * R^T * K = K * K^T
00071     * \param[in] projection_matrix
00072     * \param[out] camera_matrix
00073     */
00074   PCL_EXPORTS void
00075   getCameraMatrixFromProjectionMatrix (const Eigen::Matrix<float, 3, 4, Eigen::RowMajor>& projection_matrix, Eigen::Matrix3f& camera_matrix);  
00076 }
00077 
00078 #include <pcl/common/impl/projection_matrix.hpp>
00079 
00080 #endif // __PCL_ORGANIZED_PROJECTION_MATRIX_H__