Base class for all distortion models. More...

#include <DistortionBase.hpp>

Inheritance diagram for okvis::cameras::DistortionBase:

Public Member Functions
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~DistortionBase ()
	Destructor – not doing anything. More...

Methods related to generic parameters
virtual bool	setParameters (const Eigen::VectorXd &parameters)=0
	set the generic parameters More...

virtual bool	getParameters (Eigen::VectorXd &parameters) const =0
	Obtain the generic parameters. More...

virtual std::string	type () const =0
	The derived class type. More...

virtual int	numDistortionIntrinsics () const =0
	Number of derived class distortion parameters. More...

Distortion functions
virtual bool	distort (const Eigen::Vector2d &pointUndistorted, Eigen::Vector2d *pointDistorted) const =0
	Distortion only. More...

virtual bool	distort (const Eigen::Vector2d &pointUndistorted, Eigen::Vector2d pointDistorted, Eigen::Matrix2d pointJacobian, Eigen::Matrix2Xd *parameterJacobian=NULL) const =0
	Distortion and Jacobians. More...

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. More...

Undistortion functions
virtual bool	undistort (const Eigen::Vector2d &pointDistorted, Eigen::Vector2d *pointUndistorted) const =0
	Undistortion only. More...

virtual bool	undistort (const Eigen::Vector2d &pointDistorted, Eigen::Vector2d pointUndistorted, Eigen::Matrix2d pointJacobian) const =0
	Undistortion only. More...

Detailed Description

Base class for all distortion models.

Constructor & Destructor Documentation

virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::cameras::DistortionBase::~DistortionBase ( )

inlinevirtual

Destructor – not doing anything.

Member Function Documentation

virtual bool okvis::cameras::DistortionBase::distort	(	const Eigen::Vector2d &	pointUndistorted,
		Eigen::Vector2d *	pointDistorted
	)		const

pure virtual

Distortion only.

Parameters

[in]	pointUndistorted	The undistorted normalised (!) image point.
[out]	pointDistorted	The distorted normalised (!) image point.

Returns: True on success (no singularity)

Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, okvis::cameras::RadialTangentialDistortion, and okvis::cameras::NoDistortion.

virtual bool okvis::cameras::DistortionBase::distort	(	const Eigen::Vector2d &	pointUndistorted,
		Eigen::Vector2d *	pointDistorted,
		Eigen::Matrix2d *	pointJacobian,
		Eigen::Matrix2Xd *	parameterJacobian = `NULL`
	)		const

pure virtual

Distortion and Jacobians.

Parameters

[in]	pointUndistorted	The undistorted normalised (!) image point.
[out]	pointDistorted	The distorted normalised (!) image point.
[out]	pointJacobian	The Jacobian w.r.t. changes on the image point.
[out]	parameterJacobian	The Jacobian w.r.t. changes on the intrinsics vector.

Returns: True on success (no singularity)

Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::NoDistortion, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.

virtual bool okvis::cameras::DistortionBase::distortWithExternalParameters	(	const Eigen::Vector2d &	pointUndistorted,
		const Eigen::VectorXd &	parameters,
		Eigen::Vector2d *	pointDistorted,
		Eigen::Matrix2d *	pointJacobian = `NULL`,
		Eigen::Matrix2Xd *	parameterJacobian = `NULL`
	)		const

pure virtual

Distortion and Jacobians using external distortion intrinsics parameters.

Parameters

[in]	pointUndistorted	The undistorted normalised (!) image point.
[in]	parameters	The distortion intrinsics vector.
[out]	pointDistorted	The distorted normalised (!) image point.
[out]	pointJacobian	The Jacobian w.r.t. changes on the image point.
[out]	parameterJacobian	The Jacobian w.r.t. changes on the intrinsics vector.

Returns: True on success (no singularity)

Implemented in okvis::cameras::NoDistortion, okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.

virtual bool okvis::cameras::DistortionBase::getParameters ( Eigen::VectorXd & parameters ) const

pure virtual

Obtain the generic parameters.

Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::NoDistortion, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.

virtual int okvis::cameras::DistortionBase::numDistortionIntrinsics ( ) const

pure virtual

Number of derived class distortion parameters.

Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::NoDistortion, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.

virtual bool okvis::cameras::DistortionBase::setParameters ( const Eigen::VectorXd & parameters )

pure virtual

set the generic parameters

Parameters

[in] parameters Parameter vector – length must correspond numDistortionIntrinsics().

Returns: True if the requirements were followed.

Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, okvis::cameras::RadialTangentialDistortion, and okvis::cameras::NoDistortion.

virtual std::string okvis::cameras::DistortionBase::type ( ) const

pure virtual

The derived class type.

Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::NoDistortion, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.

virtual bool okvis::cameras::DistortionBase::undistort	(	const Eigen::Vector2d &	pointDistorted,
		Eigen::Vector2d *	pointUndistorted
	)		const

pure virtual

Undistortion only.

Parameters

[in]	pointDistorted	The distorted normalised (!) image point.
[out]	pointUndistorted	The undistorted normalised (!) image point.

Returns: True on success (no singularity)

Implemented in okvis::cameras::NoDistortion, okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.

virtual bool okvis::cameras::DistortionBase::undistort	(	const Eigen::Vector2d &	pointDistorted,
		Eigen::Vector2d *	pointUndistorted,
		Eigen::Matrix2d *	pointJacobian
	)		const

pure virtual

Undistortion only.

Parameters

[in]	pointDistorted	The distorted normalised (!) image point.
[out]	pointUndistorted	The undistorted normalised (!) image point.
[out]	pointJacobian	The Jacobian w.r.t. changes on the image point.

Returns: True on success (no singularity)

Implemented in okvis::cameras::NoDistortion, okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.

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

okvis_cv/include/okvis/cameras/DistortionBase.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation