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:

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]	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::NoDistortion::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::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]	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::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] parameters Parameter 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]	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::NoDistortion::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

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:

okvis/okvis_cv/include/okvis/cameras/NoDistortion.hpp

Public Member Functions

Static Public Member Functions

Methods related to generic parameters

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation