RadialTangentialDistortion.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Feb 3, 2015
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CAMERAS_RADIALTANGENTIALDISTORTION_HPP_
#define INCLUDE_OKVIS_CAMERAS_RADIALTANGENTIALDISTORTION_HPP_

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

namespace okvis {
namespace cameras {

class RadialTangentialDistortion : public DistortionBase
{
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  inline RadialTangentialDistortion();

  inline RadialTangentialDistortion(double k1, double k2, double p1, double p2);


  inline bool setParameters(const Eigen::VectorXd & parameters);

  inline bool getParameters(Eigen::VectorXd & parameters) const
  {
    parameters = parameters_;
    return true;
  }

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

  inline int numDistortionIntrinsics() const
  {
    return NumDistortionIntrinsics;
  }

  static const int NumDistortionIntrinsics = 4;  

  static std::shared_ptr<DistortionBase> createTestObject()
  {
    return std::shared_ptr<DistortionBase>(
        new RadialTangentialDistortion(-0.16, 0.15, 0.0003, 0.0002));
  }
  static RadialTangentialDistortion testObject()
  {
    return RadialTangentialDistortion(-0.16, 0.15, 0.0003, 0.0002);
  }


  inline bool distort(const Eigen::Vector2d & pointUndistorted,
                      Eigen::Vector2d * pointDistorted) const;

  inline bool distort(const Eigen::Vector2d & pointUndistorted,
                      Eigen::Vector2d * pointDistorted,
                      Eigen::Matrix2d * pointJacobian,
                      Eigen::Matrix2Xd * parameterJacobian = NULL) const;

  inline bool distortWithExternalParameters(
      const Eigen::Vector2d & pointUndistorted,
      const Eigen::VectorXd & parameters, Eigen::Vector2d * pointDistorted,
      Eigen::Matrix2d * pointJacobian = NULL,
      Eigen::Matrix2Xd * parameterJacobian = NULL) const;


  inline bool undistort(const Eigen::Vector2d & pointDistorted,
                        Eigen::Vector2d * pointUndistorted) const;

  inline bool undistort(const Eigen::Vector2d & pointDistorted,
                        Eigen::Vector2d * pointUndistorted,
                        Eigen::Matrix2d * pointJacobian) const;

 protected:
  Eigen::Matrix<double, NumDistortionIntrinsics, 1> parameters_;  

  double k1_;  
  double k2_;  
  double p1_;  
  double p2_;  
};

}  // namespace cameras
}  // namespace okvis

#include "implementation/RadialTangentialDistortion.hpp"

#endif /* INCLUDE_OKVIS_CAMERAS_RADIALTANGENTIALDISTORTION_HPP_ */