Class Undistorter

Inheritance Relationships

Derived Type

Class Documentation

class aslam::Undistorter

A base class for image undistortion and resizing.

Subclassed by aslam::MappedUndistorter

Public Functions

ASLAM_POINTER_TYPEDEFS(Undistorter)
ASLAM_DISALLOW_EVIL_CONSTRUCTORS(Undistorter)
Undistorter(Camera::Ptr input_camera, Camera::Ptr output_camera)

Construct an undistorter pipeline from the input and output cameras.

Parameters

  • input_camera – [in] The intrinsics associated with the input image.

  • output_camera – [in] The intrinsics associated with the output image.

inline virtual ~Undistorter()
virtual void processImage(const cv::Mat &input_image, cv::Mat *output_image) const = 0

Produce an undistorted image from an input image.

inline const Camera &getInputCamera() const

Get the input camera that corresponds to the image passed in to processImage().

Because this processor may do things like image undistortion or rectification, the input and output camera may not be the same.

inline Camera::Ptr getInputCameraShared()

Get the input camera that corresponds to the image passed in to processImage().

Because this processor may do things like image undistortion or rectification, the input and output camera may not be the same.

inline Camera::ConstPtr getInputCameraShared() const

Get the input camera that corresponds to the image passed in to processImage().

Because this processor may do things like image undistortion or rectification, the input and output camera may not be the same.

inline const Camera &getOutputCamera() const

Get the output camera that corresponds to the VisualFrame data that comes out.

Because this pipeline may do things like image undistortion or rectification, the input and output camera may not be the same.

inline Camera::Ptr getOutputCameraShared()

Get the output camera that corresponds to the VisualFrame data that comes out.

Because this pipeline may do things like image undistortion or rectification, the input and output camera may not be the same.

inline Camera::ConstPtr getOutputCameraShared() const

Get the output camera that corresponds to the VisualFrame data that comes out.

Because this pipeline may do things like image undistortion or rectification, the input and output camera may not be the same.

Protected Functions

inline Undistorter()

Protected Attributes

Camera::Ptr input_camera_

The intrinsics of the raw image.

Camera::Ptr output_camera_

The intrinsics of the raw image.