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DistortionBase.hpp
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32 
39 #ifndef INCLUDE_OKVIS_CAMERAS_DISTORTIONBASE_HPP_
40 #define INCLUDE_OKVIS_CAMERAS_DISTORTIONBASE_HPP_
41 
42 #include <Eigen/Core>
44 
46 namespace okvis {
48 namespace cameras {
49 
53 {
54  public:
55  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
56 
58  virtual ~DistortionBase()
59  {
60  }
61 
65 
69  virtual bool setParameters(const Eigen::VectorXd & parameters) = 0;
70 
72  virtual bool getParameters(Eigen::VectorXd & parameters) const = 0;
73 
75  virtual std::string type() const = 0;
76 
78  virtual int numDistortionIntrinsics() const = 0;
80 
84 
89  virtual bool distort(const Eigen::Vector2d & pointUndistorted,
90  Eigen::Vector2d * pointDistorted) const = 0;
91 
98  virtual bool distort(const Eigen::Vector2d & pointUndistorted,
99  Eigen::Vector2d * pointDistorted,
100  Eigen::Matrix2d * pointJacobian,
101  Eigen::Matrix2Xd * parameterJacobian = NULL) const = 0;
102 
110  virtual bool distortWithExternalParameters(
111  const Eigen::Vector2d & pointUndistorted,
112  const Eigen::VectorXd & parameters, Eigen::Vector2d * pointDistorted,
113  Eigen::Matrix2d * pointJacobian = NULL,
114  Eigen::Matrix2Xd * parameterJacobian = NULL) const = 0;
116 
120 
125  virtual bool undistort(const Eigen::Vector2d & pointDistorted,
126  Eigen::Vector2d * pointUndistorted) const = 0;
127 
133  virtual bool undistort(const Eigen::Vector2d & pointDistorted,
134  Eigen::Vector2d * pointUndistorted,
135  Eigen::Matrix2d * pointJacobian) const = 0;
137 };
138 
139 } // namespace cameras
140 } // namespace okvis
141 
142 #endif /* INCLUDE_OKVIS_CAMERAS_DISTORTIONBASE_HPP_ */
virtual std::string type() const =0
The derived class type.
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW ~DistortionBase()
Destructor – not doing anything.
Definition: DistortionBase.hpp:58
virtual bool undistort(const Eigen::Vector2d &pointDistorted, Eigen::Vector2d *pointUndistorted) const =0
Undistortion only.
virtual bool distortWithExternalParameters(const Eigen::Vector2d &pointUndistorted, const Eigen::VectorXd &parameters, Eigen::Vector2d *pointDistorted, Eigen::Matrix2d *pointJacobian=NULL, Eigen::Matrix2Xd *parameterJacobian=NULL) const =0
Distortion and Jacobians using external distortion intrinsics parameters.
virtual int numDistortionIntrinsics() const =0
Number of derived class distortion parameters.
Header file for the CameraBase class.
Base class for all distortion models.
Definition: DistortionBase.hpp:52
virtual bool setParameters(const Eigen::VectorXd &parameters)=0
set the generic parameters
virtual bool getParameters(Eigen::VectorXd &parameters) const =0
Obtain the generic parameters.
virtual bool distort(const Eigen::Vector2d &pointUndistorted, Eigen::Vector2d *pointDistorted) const =0
Distortion only.