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okvis::cameras::NoDistortion Class Reference

This trivially doesn't do anything in terms of distortion. This is useful for testing, or working with pre-undistorted images. More...

#include <NoDistortion.hpp>

Inheritance diagram for okvis::cameras::NoDistortion:
okvis::cameras::DistortionBase

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ~NoDistortion ()
 Destructor, not doing anything. More...
 
Distortion functions
bool distort (const Eigen::Vector2d &pointUndistorted, Eigen::Vector2d *pointDistorted) const
 Distortion only. More...
 
bool distort (const Eigen::Vector2d &pointUndistorted, Eigen::Vector2d *pointDistorted, Eigen::Matrix2d *pointJacobian, Eigen::Matrix2Xd *parameterJacobian=NULL) const
 Distortion and Jacobians. More...
 
bool distortWithExternalParameters (const Eigen::Vector2d &pointUndistorted, const Eigen::VectorXd &parameters, Eigen::Vector2d *pointDistorted, Eigen::Matrix2d *pointJacobian=NULL, Eigen::Matrix2Xd *parameterJacobian=NULL) const
 Distortion and Jacobians using external distortion intrinsics parameters. More...
 
Undistortion functions
bool undistort (const Eigen::Vector2d &pointDistorted, Eigen::Vector2d *pointUndistorted) const
 Undistortion only. More...
 
bool undistort (const Eigen::Vector2d &pointDistorted, Eigen::Vector2d *pointUndistorted, Eigen::Matrix2d *pointJacobian) const
 Undistortion only. More...
 
- Public Member Functions inherited from okvis::cameras::DistortionBase
virtual
EIGEN_MAKE_ALIGNED_OPERATOR_NEW 
~DistortionBase ()
 Destructor – not doing anything. More...
 

Static Public Member Functions

static std::shared_ptr
< DistortionBase
createTestObject ()
 Unit test support – create a test distortion object. More...
 
static NoDistortion testObject ()
 Unit test support – create a test distortion object. More...
 

Methods related to generic parameters

static const int NumDistortionIntrinsics = 0
 
bool setParameters (const Eigen::VectorXd &parameters)
 set the generic parameters More...
 
bool getParameters (Eigen::VectorXd &parameters) const
 Obtain the generic parameters. More...
 
std::string type () const
 The class type. More...
 
int numDistortionIntrinsics () const
 Number of derived class distortion parameters. More...
 

Detailed Description

This trivially doesn't do anything in terms of distortion. This is useful for testing, or working with pre-undistorted images.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::cameras::NoDistortion::~NoDistortion ( )
inline

Destructor, not doing anything.

Member Function Documentation

static std::shared_ptr<DistortionBase> okvis::cameras::NoDistortion::createTestObject ( )
inlinestatic

Unit test support – create a test distortion object.

bool okvis::cameras::NoDistortion::distort ( const Eigen::Vector2d &  pointUndistorted,
Eigen::Vector2d *  pointDistorted 
) const
inlinevirtual

Distortion only.

Parameters
[in]pointUndistortedThe undistorted normalised (!) image point.
[out]pointDistortedThe distorted normalised (!) image point.
Returns
True on success (no singularity)

Implements okvis::cameras::DistortionBase.

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

Distortion and Jacobians.

Parameters
[in]pointUndistortedThe undistorted normalised (!) image point.
[out]pointDistortedThe distorted normalised (!) image point.
[out]pointJacobianThe Jacobian w.r.t. changes on the image point.
[out]parameterJacobianThe Jacobian w.r.t. changes on the intrinsics vector.
Returns
True on success (no singularity)

Implements okvis::cameras::DistortionBase.

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

Distortion and Jacobians using external distortion intrinsics parameters.

Parameters
[in]pointUndistortedThe undistorted normalised (!) image point.
[in]parametersThe distortion intrinsics vector.
[out]pointDistortedThe distorted normalised (!) image point.
[out]pointJacobianThe Jacobian w.r.t. changes on the image point.
[out]parameterJacobianThe Jacobian w.r.t. changes on the intrinsics vector.
Returns
True on success (no singularity)

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::NoDistortion::getParameters ( Eigen::VectorXd &  parameters) const
inlinevirtual

Obtain the generic parameters.

Implements okvis::cameras::DistortionBase.

int okvis::cameras::NoDistortion::numDistortionIntrinsics ( ) const
inlinevirtual

Number of derived class distortion parameters.

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::NoDistortion::setParameters ( const Eigen::VectorXd &  parameters)
inlinevirtual

set the generic parameters

Parameters
[in]parametersParameter vector – length must correspond numDistortionIntrinsics().
Returns
True if the requirements were followed.

Implements okvis::cameras::DistortionBase.

static NoDistortion okvis::cameras::NoDistortion::testObject ( )
inlinestatic

Unit test support – create a test distortion object.

std::string okvis::cameras::NoDistortion::type ( ) const
inlinevirtual

The class type.

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::NoDistortion::undistort ( const Eigen::Vector2d &  pointDistorted,
Eigen::Vector2d *  pointUndistorted 
) const
inlinevirtual

Undistortion only.

Parameters
[in]pointDistortedThe distorted normalised (!) image point.
[out]pointUndistortedThe undistorted normalised (!) image point.
Returns
True on success (no singularity)

Implements okvis::cameras::DistortionBase.

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

Undistortion only.

Parameters
[in]pointDistortedThe distorted normalised (!) image point.
[out]pointUndistortedThe undistorted normalised (!) image point.
[out]pointJacobianThe Jacobian w.r.t. changes on the image point.
Returns
True on success (no singularity)

Implements okvis::cameras::DistortionBase.

Member Data Documentation

const int okvis::cameras::NoDistortion::NumDistortionIntrinsics = 0
static

THis class does not contain any distortion intrinsics.


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