Autoware.Auto
autoware::perception::tracking::CameraModel Class Reference

This model represents a camera in 3D space and can project 3D shapes into an image. More...

#include <projection.hpp>

Public Types

using float32_t = common::types::float32_t
 
using Interval = common::geometry::Interval< float32_t >
 
using Point = geometry_msgs::msg::Point32
 
using EigPoint = Eigen::Vector3f
 

Public Member Functions

 CameraModel (const CameraIntrinsics &intrinsics)
 Cnstructor. More...
 
std::experimental::optional< Projectionproject (const std::vector< Point > &points) const
 Bring 3D points in ego frame to the camera frame and project onto the image plane. All 3D points in a shape (vertices on the bottom face and the top face) are projected onto. More...
 

Detailed Description

This model represents a camera in 3D space and can project 3D shapes into an image.

Member Typedef Documentation

◆ EigPoint

◆ float32_t

◆ Interval

◆ Point

using autoware::perception::tracking::CameraModel::Point = geometry_msgs::msg::Point32

Constructor & Destructor Documentation

◆ CameraModel()

autoware::perception::tracking::CameraModel::CameraModel ( const CameraIntrinsics intrinsics)
explicit

Cnstructor.

Parameters
intrinsicsCamera intrinsics

Member Function Documentation

◆ project()

std::experimental::optional< Projection > autoware::perception::tracking::CameraModel::project ( const std::vector< Point > &  points) const

Bring 3D points in ego frame to the camera frame and project onto the image plane. All 3D points in a shape (vertices on the bottom face and the top face) are projected onto.

K * p_3d = p_2d * depth where K is the projection matrix.

Parameters
points3D set of points in the camera frame.
Returns
List of points on the camera frame that outline the given 3D object.

The documentation for this class was generated from the following files: