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Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
okvis::cameras::RadialTangentialDistortion8 Class Reference

#include <RadialTangentialDistortion8.hpp>

Inheritance diagram for okvis::cameras::RadialTangentialDistortion8:
okvis::cameras::DistortionBase

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW RadialTangentialDistortion8 ()
 The default constructor with all zero ki. More...
 
 RadialTangentialDistortion8 (double k1, double k2, double p1, double p2, double k3, double k4, double k5, double k6)
 Constructor initialising ki. 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 RadialTangentialDistortion8 testObject ()
 Unit test support – create a test distortion object. More...
 

Protected Attributes

Eigen::Matrix< double,
NumDistortionIntrinsics, 1 > 
parameters_
 all distortion parameters More...
 
double k1_
 radial parameter 1 More...
 
double k2_
 radial parameter 2 More...
 
double p1_
 tangential parameter 1 More...
 
double p2_
 tangential parameter 2 More...
 
double k3_
 radial parameter 3 More...
 
double k4_
 radial parameter 4 More...
 
double k5_
 radial parameter 3 More...
 
double k6_
 radial parameter 4 More...
 

Methods related to generic parameters

static const int NumDistortionIntrinsics = 8
 
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 distortion parameters. More...
 

Constructor & Destructor Documentation

okvis::cameras::RadialTangentialDistortion8::RadialTangentialDistortion8 ( )
inline

The default constructor with all zero ki.

okvis::cameras::RadialTangentialDistortion8::RadialTangentialDistortion8 ( double  k1,
double  k2,
double  p1,
double  p2,
double  k3,
double  k4,
double  k5,
double  k6 
)
inline

Constructor initialising ki.

Parameters
[in]k1radial parameter 1
[in]k2radial parameter 2
[in]p1tangential parameter 1
[in]p2tangential parameter 2
[in]k3radial parameter 3
[in]k4radial parameter 4
[in]k5radial parameter 5
[in]k6radial parameter 6

Member Function Documentation

static std::shared_ptr<DistortionBase> okvis::cameras::RadialTangentialDistortion8::createTestObject ( )
inlinestatic

Unit test support – create a test distortion object.

bool okvis::cameras::RadialTangentialDistortion8::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::RadialTangentialDistortion8::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::RadialTangentialDistortion8::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::RadialTangentialDistortion8::getParameters ( Eigen::VectorXd &  parameters) const
inlinevirtual

Obtain the generic parameters.

Implements okvis::cameras::DistortionBase.

int okvis::cameras::RadialTangentialDistortion8::numDistortionIntrinsics ( ) const
inlinevirtual

Number of distortion parameters.

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::RadialTangentialDistortion8::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 RadialTangentialDistortion8 okvis::cameras::RadialTangentialDistortion8::testObject ( )
inlinestatic

Unit test support – create a test distortion object.

std::string okvis::cameras::RadialTangentialDistortion8::type ( ) const
inlinevirtual

The class type.

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::RadialTangentialDistortion8::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::RadialTangentialDistortion8::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

double okvis::cameras::RadialTangentialDistortion8::k1_
protected

radial parameter 1

double okvis::cameras::RadialTangentialDistortion8::k2_
protected

radial parameter 2

double okvis::cameras::RadialTangentialDistortion8::k3_
protected

radial parameter 3

double okvis::cameras::RadialTangentialDistortion8::k4_
protected

radial parameter 4

double okvis::cameras::RadialTangentialDistortion8::k5_
protected

radial parameter 3

double okvis::cameras::RadialTangentialDistortion8::k6_
protected

radial parameter 4

const int okvis::cameras::RadialTangentialDistortion8::NumDistortionIntrinsics = 8
static

The Number of distortion parameters.

double okvis::cameras::RadialTangentialDistortion8::p1_
protected

tangential parameter 1

double okvis::cameras::RadialTangentialDistortion8::p2_
protected

tangential parameter 2

Eigen::Matrix<double, NumDistortionIntrinsics, 1> okvis::cameras::RadialTangentialDistortion8::parameters_
protected

all distortion parameters


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