identity_distorter.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
#ifndef VISION_COMMON_IDENTITY_DISTORTER_H_
#define VISION_COMMON_IDENTITY_DISTORTER_H_
 
#include <vision_common/distorter.h>
 
namespace vision_common {
// TODO(rsoussan): This actually takes 0 params but ceres needs at least 1 to form
// valid parameter blocks.  Change to 0 when this is avoided.
class IdentityDistorter : public Distorter<1, IdentityDistorter> {
 public:
  using Distorter<1, IdentityDistorter>::Distort;
  using Distorter<1, IdentityDistorter>::Undistort;
 
  template <typename T>
  Eigen::Matrix<T, 2, 1> Distort(const T* distortion, const Eigen::Matrix<T, 3, 3>& intrinsics,
                                 const Eigen::Matrix<T, 2, 1>& undistorted_point) const {
    return undistorted_point;
  }
 
  cv::Mat Undistort(const cv::Mat& distorted_image, const Eigen::Matrix3d& intrinsics,
                    const Eigen::VectorXd& distortion) const final {
    return distorted_image;
  }
 
  Eigen::Vector2d Undistort(const Eigen::Vector2d& distorted_point, const Eigen::Matrix3d& intrinsics,
                            const Eigen::VectorXd& distortion) const final {
    return distorted_point;
  }
};
}  // namespace vision_common
 
#endif  // VISION_COMMON_IDENTITY_DISTORTER_H_