msceqf::RadtanCamera Struct Reference

This class represent a pinhole camera with radtan distortion model. More...

#include <camera.hpp>

Inheritance diagram for msceqf::RadtanCamera:

Collaboration diagram for msceqf::RadtanCamera:

Public Member Functions
	RadtanCamera (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.

Detailed Description

This class represent a pinhole camera with radtan distortion model.

Member Function Documentation

undistort()

void msceqf::RadtanCamera::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::RadtanCamera::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.

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

• include/vision/camera.hpp