40 #include <pcl/common/eigen.h>
41 #include <pcl/console/print.h>
64 template<
typename Po
intT>
double
77 #include <pcl/common/impl/projection_matrix.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< const PointCloud< PointT > > ConstPtr
double estimateProjectionMatrix(typename pcl::PointCloud< PointT >::ConstPtr cloud, Eigen::Matrix< float, 3, 4, Eigen::RowMajor > &projection_matrix, const std::vector< int > &indices)
Estimates the projection matrix P = K * (R|-R*t) from organized point clouds, with K = [[fx,...
PCL_EXPORTS void getCameraMatrixFromProjectionMatrix(const Eigen::Matrix< float, 3, 4, Eigen::RowMajor > &projection_matrix, Eigen::Matrix3f &camera_matrix)
Determines the camera matrix from the given projection matrix.