Implements equidistant distortion. More...

#include <EquidistantDistortion.hpp>

Inheritance diagram for okvis::cameras::EquidistantDistortion:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EquidistantDistortion ()
	The default constructor with all zero ki. More...

	EquidistantDistortion (double k1, double k2, double k3, double k4)
	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 EquidistantDistortion	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	k3_
	tangential parameter 1 More...

double	k4_
	tangential parameter 2 More...

Methods related to generic parameters
static const int	NumDistortionIntrinsics = 4

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...

Detailed Description

Implements equidistant distortion.

Constructor & Destructor Documentation

okvis::cameras::EquidistantDistortion::EquidistantDistortion ( )

inline

The default constructor with all zero ki.

okvis::cameras::EquidistantDistortion::EquidistantDistortion	(	double	k1,
		double	k2,
		double	k3,
		double	k4
	)

inline

Constructor initialising ki.

Parameters

[in]	k1	equidistant parameter 1
[in]	k2	equidistant parameter 2
[in]	k3	equidistant parameter 3
[in]	k4	equidistant parameter 4

Member Function Documentation

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

inlinestatic

Unit test support – create a test distortion object.

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

inlinevirtual

Distortion only.

Parameters

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

Returns: True on success (no singularity)

Implements okvis::cameras::DistortionBase.

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

inlinevirtual

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)

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::EquidistantDistortion::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]	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)

Implements okvis::cameras::DistortionBase.

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

inlinevirtual

Obtain the generic parameters.

Implements okvis::cameras::DistortionBase.

int okvis::cameras::EquidistantDistortion::numDistortionIntrinsics ( ) const

inlinevirtual

Number of distortion parameters.

Implements okvis::cameras::DistortionBase.

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

inlinevirtual

set the generic parameters

Parameters

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

Returns: True if the requirements were followed.

Implements okvis::cameras::DistortionBase.

static EquidistantDistortion okvis::cameras::EquidistantDistortion::testObject ( )

inlinestatic

Unit test support – create a test distortion object.

std::string okvis::cameras::EquidistantDistortion::type ( ) const

inlinevirtual

The class type.

Implements okvis::cameras::DistortionBase.

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

inlinevirtual

Undistortion only.

Parameters

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

Returns: True on success (no singularity)

Implements okvis::cameras::DistortionBase.

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

inlinevirtual

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)

Implements okvis::cameras::DistortionBase.

Member Data Documentation

double okvis::cameras::EquidistantDistortion::k1_

protected

radial parameter 1

double okvis::cameras::EquidistantDistortion::k2_

protected

radial parameter 2

double okvis::cameras::EquidistantDistortion::k3_

protected

tangential parameter 1

double okvis::cameras::EquidistantDistortion::k4_

protected

tangential parameter 2

const int okvis::cameras::EquidistantDistortion::NumDistortionIntrinsics = 4

static

The Number of distortion parameters.

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

protected

all distortion parameters

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

okvis/okvis_cv/include/okvis/cameras/EquidistantDistortion.hpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Methods related to generic parameters

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation