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
  • [in] input_camera – Input camera geometry

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

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

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