farm-ng-core
Public Types | Static Public Member Functions | Static Public Attributes | List of all members
sophus::BrownConradyTransform Class Reference

#include <brown_conrady.h>

Public Types

template<class TScalar >
using ProjInCameraZ1Plane = Eigen::Matrix< TScalar, 2, 1 >
 
template<class TScalar >
using PixelImage = Eigen::Matrix< TScalar, 2, 1 >
 
template<class TScalar >
using Params = Eigen::Matrix< TScalar, kNumParams, 1 >
 
template<class TScalar >
using DistorationParams = Eigen::Matrix< TScalar, kNumDistortionParams, 1 >
 

Static Public Member Functions

template<class TParamScalarT , class TPointScalarT >
static auto projImpl (DistorationParams< TParamScalarT > const &distortion, PixelImage< TPointScalarT > const &point_normalized) -> PixelImage< typename Eigen::ScalarBinaryOpTraits< TParamScalarT, TPointScalarT >::ReturnType >
 
template<class TScalar >
static auto unprojImpl (DistorationParams< TScalar > const &distortion, PixelImage< TScalar > const &uv_normalized) -> PixelImage< TScalar >
 
template<class TParamsTypeT , class TPointTypeT >
static auto distort (Eigen::MatrixBase< TParamsTypeT > const &params, Eigen::MatrixBase< TPointTypeT > const &proj_point_in_camera_z1_plane) -> PixelImage< typename TPointTypeT::Scalar >
 
template<class TScalar >
static auto undistort (Params< TScalar > const &params, PixelImage< TScalar > const &pixel_image) -> ProjInCameraZ1Plane< TScalar >
 
template<class TParamsTypeT , class TPointTypeT >
static auto dxDistort (Eigen::MatrixBase< TParamsTypeT > const &params, Eigen::MatrixBase< TPointTypeT > const &proj_point_in_camera_z1_plane) -> Eigen::Matrix< typename TPointTypeT::Scalar, 2, 2 >
 

Static Public Attributes

static constexpr int kNumDistortionParams = 8
 
static constexpr int kNumParams = kNumDistortionParams + 4
 
static constexpr const std::string_view kProjectionModel
 

Member Typedef Documentation

◆ DistorationParams

template<class TScalar >
using sophus::BrownConradyTransform::DistorationParams = Eigen::Matrix<TScalar, kNumDistortionParams, 1>

◆ Params

template<class TScalar >
using sophus::BrownConradyTransform::Params = Eigen::Matrix<TScalar, kNumParams, 1>

◆ PixelImage

template<class TScalar >
using sophus::BrownConradyTransform::PixelImage = Eigen::Matrix<TScalar, 2, 1>

◆ ProjInCameraZ1Plane

template<class TScalar >
using sophus::BrownConradyTransform::ProjInCameraZ1Plane = Eigen::Matrix<TScalar, 2, 1>

Member Function Documentation

◆ distort()

template<class TParamsTypeT , class TPointTypeT >
static auto sophus::BrownConradyTransform::distort ( Eigen::MatrixBase< TParamsTypeT > const &  params,
Eigen::MatrixBase< TPointTypeT > const &  proj_point_in_camera_z1_plane 
) -> PixelImage<typename TPointTypeT::Scalar>
inlinestatic

◆ dxDistort()

template<class TParamsTypeT , class TPointTypeT >
static auto sophus::BrownConradyTransform::dxDistort ( Eigen::MatrixBase< TParamsTypeT > const &  params,
Eigen::MatrixBase< TPointTypeT > const &  proj_point_in_camera_z1_plane 
) -> Eigen::Matrix<typename TPointTypeT::Scalar, 2, 2>
inlinestatic

◆ projImpl()

template<class TParamScalarT , class TPointScalarT >
static auto sophus::BrownConradyTransform::projImpl ( DistorationParams< TParamScalarT > const &  distortion,
PixelImage< TPointScalarT > const &  point_normalized 
) -> PixelImage<typename Eigen::ScalarBinaryOpTraits< TParamScalarT, TPointScalarT>::ReturnType>
inlinestatic

◆ undistort()

template<class TScalar >
static auto sophus::BrownConradyTransform::undistort ( Params< TScalar > const &  params,
PixelImage< TScalar > const &  pixel_image 
) -> ProjInCameraZ1Plane<TScalar>
inlinestatic

◆ unprojImpl()

template<class TScalar >
static auto sophus::BrownConradyTransform::unprojImpl ( DistorationParams< TScalar > const &  distortion,
PixelImage< TScalar > const &  uv_normalized 
) -> PixelImage<TScalar>
inlinestatic

Member Data Documentation

◆ kNumDistortionParams

constexpr int sophus::BrownConradyTransform::kNumDistortionParams = 8
staticconstexpr

◆ kNumParams

constexpr int sophus::BrownConradyTransform::kNumParams = kNumDistortionParams + 4
staticconstexpr

◆ kProjectionModel

constexpr const std::string_view sophus::BrownConradyTransform::kProjectionModel
staticconstexpr
Initial value:
=
"BrownConrady: fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, k5, k6"
The documentation for this class was generated from the following file: