NoDistortion.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 *  Created on: Feb 2, 2015
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CAMERAS_NODISTORTION_HPP_
#define INCLUDE_OKVIS_CAMERAS_NODISTORTION_HPP_

#include <memory>
#include <Eigen/Core>
#include "okvis/cameras/DistortionBase.hpp"

namespace okvis {
namespace cameras {

class NoDistortion : public DistortionBase
{
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  inline ~NoDistortion()
  {
  }


  bool setParameters(const Eigen::VectorXd & parameters)
  {
    (void)parameters;
    return true;
  }

  bool getParameters(Eigen::VectorXd & parameters) const
  {
    parameters.resize(0);
    return true;
  }

  std::string type() const
  {
    return "NoDistortion";
  }

  int numDistortionIntrinsics() const
  {
    return 0;
  }

  static const int NumDistortionIntrinsics = 0; 

  static std::shared_ptr<DistortionBase> createTestObject() {
    return std::shared_ptr<DistortionBase>(new NoDistortion());
  }
  static NoDistortion testObject() {
    return NoDistortion();
  }


  bool distort(const Eigen::Vector2d & pointUndistorted,
                       Eigen::Vector2d * pointDistorted) const
  {
    *pointDistorted = pointUndistorted;
    return true;
  }

  bool distort(const Eigen::Vector2d & pointUndistorted,
                       Eigen::Vector2d * pointDistorted,
                       Eigen::Matrix2d * pointJacobian,
                       Eigen::Matrix2Xd * parameterJacobian = NULL) const
  {
    *pointDistorted = pointUndistorted;
    *pointJacobian = Eigen::Matrix2d::Identity();
    if (parameterJacobian) {
      parameterJacobian->resize(2, 0);
    }
    return true;
  }

  bool distortWithExternalParameters(
      const Eigen::Vector2d & pointUndistorted,
      const Eigen::VectorXd & parameters, Eigen::Vector2d * pointDistorted,
      Eigen::Matrix2d * pointJacobian = NULL,
      Eigen::Matrix2Xd * parameterJacobian = NULL) const
  {
    (void)parameters;
    *pointDistorted = pointUndistorted;
    if (pointJacobian) {
      *pointJacobian = Eigen::Matrix2d::Identity();
    }
    if (parameterJacobian) {
      parameterJacobian->resize(2, 0);
    }
    return true;
  }


  bool undistort(const Eigen::Vector2d & pointDistorted,
                 Eigen::Vector2d * pointUndistorted) const
  {
    *pointUndistorted = pointDistorted;
    return true;
  }

  bool undistort(const Eigen::Vector2d & pointDistorted,
                         Eigen::Vector2d * pointUndistorted,
                         Eigen::Matrix2d * pointJacobian) const
  {
    *pointUndistorted = pointDistorted;
    *pointJacobian = Eigen::Matrix2d::Identity();
    return true;
  }
};

}  // namespace cameras
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CAMERAS_NODISTORTION_HPP_ */