#include <RadialTangentialDistortion.hpp>

Inheritance diagram for okvis::cameras::RadialTangentialDistortion:

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

	RadialTangentialDistortion (double k1, double k2, double p1, double p2)
	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 RadialTangentialDistortion	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...

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...

Constructor & Destructor Documentation

okvis::cameras::RadialTangentialDistortion::RadialTangentialDistortion ( )

inline

The default constructor with all zero ki.

okvis::cameras::RadialTangentialDistortion::RadialTangentialDistortion	(	double	k1,
		double	k2,
		double	p1,
		double	p2
	)

inline

Constructor initialising ki.

Parameters

[in]	k1	radial parameter 1
[in]	k2	radial parameter 2
[in]	p1	tangential parameter 1
[in]	p2	tangential parameter 2

Member Function Documentation

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

inlinestatic

Unit test support – create a test distortion object.

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

inlinevirtual

Obtain the generic parameters.

Implements okvis::cameras::DistortionBase.

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

inlinevirtual

Number of distortion parameters.

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::RadialTangentialDistortion::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 RadialTangentialDistortion okvis::cameras::RadialTangentialDistortion::testObject ( )

inlinestatic

Unit test support – create a test distortion object.

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

inlinevirtual

The class type.

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::RadialTangentialDistortion::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::RadialTangentialDistortion::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::RadialTangentialDistortion::k1_

protected

radial parameter 1

double okvis::cameras::RadialTangentialDistortion::k2_

protected

radial parameter 2

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

static

The Number of distortion parameters.

double okvis::cameras::RadialTangentialDistortion::p1_

protected

tangential parameter 1

double okvis::cameras::RadialTangentialDistortion::p2_

protected

tangential parameter 2

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

protected

all distortion parameters

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

okvis/okvis_cv/include/okvis/cameras/RadialTangentialDistortion.hpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Methods related to generic parameters

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation