Inheritance diagram for msceqf::EquidistantCamera:

Collaboration diagram for msceqf::EquidistantCamera:

Public Member Functions
	EquidistantCamera (const CameraOptions &opts, const Vector4 &intrinsics)

void	undistort (std::vector< cv::Point2f > &uv_cv, const bool &normalize) override
	Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)

void	undistortImage (const cv::Mat &image, cv::Mat &image_undistorted) override
	Undistort given image in openCV format (cv::Mat)

Public Member Functions inherited from msceqf::PinholeCamera
void	undistort (std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)
	Undistort given distorted point in Eigen format (std::vector<Eigen::Vector2f>)

void	normalize (std::vector< Eigen::Vector2f > &uv)
	Normalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)

void	normalize (std::vector< cv::Point2f > &uv)
	Normalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)

void	normalize (Eigen::Vector2f &uv)
	Normalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)

void	normalize (cv::Point2f &uv)
	Normalize multiple features uv coordinates in OpenCV format (cv::Point2f)

void	denormalize (std::vector< Eigen::Vector2f > &uv)
	Denormalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)

void	denormalize (std::vector< cv::Point2f > &uv)
	Denormalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)

void	denormalize (Eigen::Vector2f &uv)
	Denormalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)

void	denormalize (cv::Point2f &uv)
	Denormalize multiple features uv coordinates in OpenCV format (cv::Point2f)

void	setIntrinsics (const Vector4 &intrinsics)
	Set the value of the intrinsic parameters.

const Vector4 &	intrinsics () const
	Get camera intrinsics parameter (fx, fy, cx, cy) as a 4 vector.

const VectorX &	distortionCoefficients () const
	Get camera distortion coefficients (k1, k2, p1, p2, ...) as a vector.

Additional Inherited Members
Protected Member Functions inherited from msceqf::PinholeCamera
	PinholeCamera (const VectorX &distortion_coefficients, const Vector4 instrinsics, const uint &width, const uint &height)

	PinholeCamera ()=delete
	Rule of Five.

	PinholeCamera (const PinholeCamera &)=delete

	PinholeCamera (PinholeCamera &&)=delete

PinholeCamera &	operator= (const PinholeCamera &)=delete

PinholeCamera &	operator= (PinholeCamera &&)=delete

Protected Attributes inherited from msceqf::PinholeCamera
VectorX	distortion_coefficients_
	Vector of distortion coefficients (k1, k2, p1, p2, ...)

Vector4	intrinsics_
	Vector of intrinsic paramater (fx, fy, cx, cy)

uint	width_
	Image width.

uint	height_
	Image height.

Member Function Documentation

◆ undistort()

void msceqf::EquidistantCamera::undistort	(	std::vector< cv::Point2f > &	uv_cv,
		const bool &	normalize )

overridevirtual

Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)

Parameters

uv_cv	uv coordinates
normalize	Flag to decide wether normalize coordinates or not

Implements msceqf::PinholeCamera.

◆ undistortImage()

void msceqf::EquidistantCamera::undistortImage	(	const cv::Mat &	image,
		cv::Mat &	image_undistorted )

overridevirtual

Undistort given image in openCV format (cv::Mat)

Parameters

image	Image to be undistorted
image_undistorted	Undistorted image

Implements msceqf::PinholeCamera.

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

include/vision/camera.hpp

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ undistort()

◆ undistortImage()