Template Function aslam::common::getUndistortRectangles

Function Documentation

template<typename DerivedCameraType>
static void aslam::common::getUndistortRectangles(const DerivedCameraType &input_camera, bool undistort_to_pinhole, cv::Rect_<float> &inner, cv::Rect_<float> &outer)

: calculates the inner(min)/outer(max) rectangle on the undistorted image

Parameters
  • input_camera[in] Input camera geometry

  • undistort_to_pinhole[in] Undistort image to a pinhole projection (remove distortion and projection effects)

  • inner[out] Inscribed image rectangle (all pixels valid)

  • outer[out] Circumscribed image rectangle (no pixels lost)