Template Function aslam::common::getOptimalNewCameraMatrix¶
Function Documentation¶
-
template<typename
DerivedCameraType
>
Eigen::Matrix3daslam::common
::
getOptimalNewCameraMatrix
(const DerivedCameraType &input_camera, double alpha, double scale, bool undistort_to_pinhole)¶ Returns the new camera matrix based on the free scaling parameter.
INPUT:
- Parameters
[in] input_camera – Aslam camera geometry (distortion and intrinsics used)
[in] scale – Output image size scaling parameter wrt. to input image size.
[in] alpha – Free scaling parameter between 0 (when all the pixels in the undistorted image will be valid) and 1 (when all the source image pixels will be retained in the undistorted image)
[in] undistort_to_pinhole – Undistort image to a pinhole projection (remove distortion and projection effects)
- Returns
The output camera matrix.