Function aslam::createMappedUndistorterToPinhole

Function Documentation

std::unique_ptr<MappedUndistorter> aslam::createMappedUndistorterToPinhole(const aslam::UnifiedProjectionCamera &unified_proj_camera, float alpha, float scale, aslam::InterpolationMethod interpolation_type)

Factory method to create a mapped undistorter for this camera geometry to undistorts the image to a pinhole view.

NOTE: The undistorter stores a copy of the input camera and changes to the original geometry are not connected with the undistorter!

Parameters
  • unified_proj_camera_ptr[in] Shared pointer to the unified projection camera object.

  • alpha[in] 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)

  • scale[in] Output image size scaling parameter wrt. to input image size.

  • interpolation_type[in] Check MappedUndistorter to see the available types.

Returns

Pointer to the created mapped undistorter.