sophus::KannalaBrandtK3Transform Class Reference

#include <kannala_brandt.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 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 = 4
static constexpr int	kNumParams = kNumDistortionParams + 4
static constexpr const std::string_view	kProjectionModel

Member Typedef Documentation

DistorationParams

template<class TScalar >

using sophus::KannalaBrandtK3Transform::DistorationParams = Eigen::Matrix<TScalar, kNumDistortionParams, 1>

Params

template<class TScalar >

using sophus::KannalaBrandtK3Transform::Params = Eigen::Matrix<TScalar, kNumParams, 1>

PixelImage

template<class TScalar >

using sophus::KannalaBrandtK3Transform::PixelImage = Eigen::Matrix<TScalar, 2, 1>

ProjInCameraZ1Plane

template<class TScalar >

using sophus::KannalaBrandtK3Transform::ProjInCameraZ1Plane = Eigen::Matrix<TScalar, 2, 1>

Member Function Documentation

distort()

template<class TParamsTypeT , class TPointTypeT >

static auto sophus::KannalaBrandtK3Transform::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::KannalaBrandtK3Transform::dxDistort ( Eigen::MatrixBase< TParamsTypeT > const &  params, Eigen::MatrixBase< TPointTypeT > const &  proj_point_in_camera_z1_plane  ) -> Eigen::Matrix<typename TPointTypeT::Scalar, 2, 2>

inlinestatic

undistort()

template<class TScalar >

static auto sophus::KannalaBrandtK3Transform::undistort ( Params< TScalar > const &  params, PixelImage< TScalar > const &  pixel_image  ) -> ProjInCameraZ1Plane<TScalar>

inlinestatic

Member Data Documentation

kNumDistortionParams

constexpr int sophus::KannalaBrandtK3Transform::kNumDistortionParams = 4

staticconstexpr

kNumParams

constexpr int sophus::KannalaBrandtK3Transform::kNumParams = kNumDistortionParams + 4

staticconstexpr

kProjectionModel

constexpr const std::string_view sophus::KannalaBrandtK3Transform::kProjectionModel

staticconstexpr

Initial value:

=
      "KannalaBrandtK3: fx, fy, cx, cy, kb0, kb1, kb2, kb3"

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

• projects/farm-ng-core/cpp/sophus/sensor/camera_distortion/kannala_brandt.h