OKVIS ROS
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Base class for all distortion models. More...
#include <DistortionBase.hpp>
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 ¶meters)=0 |
set the generic parameters More... | |
virtual bool | getParameters (Eigen::VectorXd ¶meters) 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 ¶meters, 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... | |
Base class for all distortion models.
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inlinevirtual |
Destructor – not doing anything.
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pure virtual |
Distortion only.
[in] | pointUndistorted | The undistorted normalised (!) image point. |
[out] | pointDistorted | The distorted normalised (!) image point. |
Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, okvis::cameras::RadialTangentialDistortion, and okvis::cameras::NoDistortion.
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pure virtual |
Distortion and Jacobians.
[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. |
Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::NoDistortion, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.
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pure virtual |
Distortion and Jacobians using external distortion intrinsics 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. |
Implemented in okvis::cameras::NoDistortion, okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.
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pure virtual |
Obtain the generic parameters.
Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::NoDistortion, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.
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pure virtual |
Number of derived class distortion parameters.
Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::NoDistortion, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.
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pure virtual |
set the generic parameters
[in] | parameters | Parameter vector – length must correspond numDistortionIntrinsics(). |
Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, okvis::cameras::RadialTangentialDistortion, and okvis::cameras::NoDistortion.
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pure virtual |
The derived class type.
Implemented in okvis::cameras::RadialTangentialDistortion8, okvis::cameras::NoDistortion, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.
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pure virtual |
Undistortion only.
[in] | pointDistorted | The distorted normalised (!) image point. |
[out] | pointUndistorted | The undistorted normalised (!) image point. |
Implemented in okvis::cameras::NoDistortion, okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.
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pure virtual |
Undistortion only.
[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. |
Implemented in okvis::cameras::NoDistortion, okvis::cameras::RadialTangentialDistortion8, okvis::cameras::EquidistantDistortion, and okvis::cameras::RadialTangentialDistortion.