#include <RadialTangentialDistortion8.hpp>

Inheritance diagram for okvis::cameras::RadialTangentialDistortion8:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RadialTangentialDistortion8 ()
	The default constructor with all zero ki. More...

	RadialTangentialDistortion8 (double k1, double k2, double p1, double p2, double k3, double k4, double k5, double k6)
	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 RadialTangentialDistortion8	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...

double	k3_
	radial parameter 3 More...

double	k4_
	radial parameter 4 More...

double	k5_
	radial parameter 3 More...

double	k6_
	radial parameter 4 More...

Methods related to generic parameters
static const int	NumDistortionIntrinsics = 8

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::RadialTangentialDistortion8::RadialTangentialDistortion8 ( )

inline

The default constructor with all zero ki.

okvis::cameras::RadialTangentialDistortion8::RadialTangentialDistortion8	(	double	k1,
		double	k2,
		double	p1,
		double	p2,
		double	k3,
		double	k4,
		double	k5,
		double	k6
	)

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
[in]	k3	radial parameter 3
[in]	k4	radial parameter 4
[in]	k5	radial parameter 5
[in]	k6	radial parameter 6

Member Function Documentation

static std::shared_ptr<DistortionBase> okvis::cameras::RadialTangentialDistortion8::createTestObject ( )

inlinestatic

Unit test support – create a test distortion object.

bool okvis::cameras::RadialTangentialDistortion8::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::RadialTangentialDistortion8::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::RadialTangentialDistortion8::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::RadialTangentialDistortion8::getParameters ( Eigen::VectorXd & parameters ) const

inlinevirtual

Obtain the generic parameters.

Implements okvis::cameras::DistortionBase.

int okvis::cameras::RadialTangentialDistortion8::numDistortionIntrinsics ( ) const

inlinevirtual

Number of distortion parameters.

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::RadialTangentialDistortion8::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 RadialTangentialDistortion8 okvis::cameras::RadialTangentialDistortion8::testObject ( )

inlinestatic

Unit test support – create a test distortion object.

std::string okvis::cameras::RadialTangentialDistortion8::type ( ) const

inlinevirtual

The class type.

Implements okvis::cameras::DistortionBase.

bool okvis::cameras::RadialTangentialDistortion8::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::RadialTangentialDistortion8::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::RadialTangentialDistortion8::k1_

protected

radial parameter 1

double okvis::cameras::RadialTangentialDistortion8::k2_

protected

radial parameter 2

double okvis::cameras::RadialTangentialDistortion8::k3_

protected

radial parameter 3

double okvis::cameras::RadialTangentialDistortion8::k4_

protected

radial parameter 4

double okvis::cameras::RadialTangentialDistortion8::k5_

protected

radial parameter 3

double okvis::cameras::RadialTangentialDistortion8::k6_

protected

radial parameter 4

const int okvis::cameras::RadialTangentialDistortion8::NumDistortionIntrinsics = 8

static

The Number of distortion parameters.

double okvis::cameras::RadialTangentialDistortion8::p1_

protected

tangential parameter 1

double okvis::cameras::RadialTangentialDistortion8::p2_

protected

tangential parameter 2

Eigen::Matrix<double, NumDistortionIntrinsics, 1> okvis::cameras::RadialTangentialDistortion8::parameters_

protected

all distortion parameters

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

okvis/okvis_cv/include/okvis/cameras/RadialTangentialDistortion8.hpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Methods related to generic parameters

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation