Function aslam::createMappedUndistorterToPinhole¶
Defined in File undistorter-mapped.h
Function Documentation¶
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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.