NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Static Public Attributes | List of all members
vision_common::Distorter< NUM_PARAMS, DISTORTER > Class Template Referenceabstract

#include <distorter.h>

Public Member Functions

Eigen::Vector2d Distort (const Eigen::VectorXd &distortion, const Eigen::Matrix3d &intrinsics, const Eigen::Vector2d &undistorted_point) const
 
virtual Eigen::Vector2d Undistort (const Eigen::Vector2d &distorted_point, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion) const =0
 
std::vector< Eigen::Vector2d > Undistort (const std::vector< Eigen::Vector2d > &distorted_points, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion) const
 
virtual cv::Mat Undistort (const cv::Mat &distorted_image, const Eigen::Matrix3d &intrinsics, const Eigen::VectorXd &distortion) const =0
 

Static Public Attributes

static constexpr int kNumParams = NUM_PARAMS
 

Member Function Documentation

◆ Distort()

template<int NUM_PARAMS, typename DISTORTER >
Eigen::Vector2d vision_common::Distorter< NUM_PARAMS, DISTORTER >::Distort ( const Eigen::VectorXd &  distortion,
const Eigen::Matrix3d &  intrinsics,
const Eigen::Vector2d &  undistorted_point 
) const
inline

◆ Undistort() [1/3]

template<int NUM_PARAMS, typename DISTORTER >
virtual cv::Mat vision_common::Distorter< NUM_PARAMS, DISTORTER >::Undistort ( const cv::Mat &  distorted_image,
const Eigen::Matrix3d &  intrinsics,
const Eigen::VectorXd &  distortion 
) const
pure virtual

Implemented in vision_common::RadTanDistorter, vision_common::FovDistorter, vision_common::RadDistorter, and vision_common::IdentityDistorter.

◆ Undistort() [2/3]

template<int NUM_PARAMS, typename DISTORTER >
virtual Eigen::Vector2d vision_common::Distorter< NUM_PARAMS, DISTORTER >::Undistort ( const Eigen::Vector2d &  distorted_point,
const Eigen::Matrix3d &  intrinsics,
const Eigen::VectorXd &  distortion 
) const
pure virtual

Implemented in vision_common::FovDistorter, vision_common::RadTanDistorter, vision_common::RadDistorter, and vision_common::IdentityDistorter.

◆ Undistort() [3/3]

template<int NUM_PARAMS, typename DISTORTER >
std::vector<Eigen::Vector2d> vision_common::Distorter< NUM_PARAMS, DISTORTER >::Undistort ( const std::vector< Eigen::Vector2d > &  distorted_points,
const Eigen::Matrix3d &  intrinsics,
const Eigen::VectorXd &  distortion 
) const
inline

Member Data Documentation

◆ kNumParams

template<int NUM_PARAMS, typename DISTORTER >
constexpr int vision_common::Distorter< NUM_PARAMS, DISTORTER >::kNumParams = NUM_PARAMS
staticconstexpr
The documentation for this class was generated from the following file: