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File distortion_type.hpp

Currently supported camera distortion types

  • Equidistant: Equidistant model with x4 parameters [k2, k3, k4, k5] This distortion type is equivalent to the Kannala-Brandt type up to ninth-order polynomial with k1 = 1. For more information please check the following reference: J. Kannala and S. S. Brandt, “A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses,” in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 8, pp. 1335-1340, Aug. 2006

  • RadialTangential: Radial tangential model with x4 parameters [k1, k2, p1, p2]. (k1, k2) are the radial distortion parameters, while (p1, p2) are the tangential distortion parameters This distortion type is also known as the Plumb Bob model or Brown-Conrady model. For more information please check the following reference: D. C. Brown. “Lens Distortion for Close-Range Photogrammetry”, Photometric Engineering, pages 855-866, Vol. 37, No. 8, 1971

  • NoDistortion: Zero distortion, ideal camera lens

  • RadialTangential8: Radial tangential model with x8 parameters [k1, k2, k3, k4, k5, k6, p1, p2]. (k1..k6) are the radial distortion parameters, while (p1, p2) are the tangential distortion parameters. Similar to the RadialTangential model but with a higher order polynomial for approximating the radial distortion

Note

The order of the distortion parameters in the configuration files is (k1, k2, p1, p2, k3, k4, k5, k6)

Helper functions for slamcore::DistortionType

template<class Archive>
static inline std::string save_minimal(const Archive&, const DistortionType &obj)
template<class Archive>
static inline void load_minimal(const Archive&, DistortionType &obj, const std::string &value)
static inline std::ostream &operator<<(std::ostream &os, const DistortionType &obj)

Enums

enum class DistortionType : uint16_t

Currently supported camera distortion types

  • Equidistant: Equidistant model with x4 parameters [k2, k3, k4, k5] This distortion type is equivalent to the Kannala-Brandt type up to ninth-order polynomial with k1 = 1. For more information please check the following reference: J. Kannala and S. S. Brandt, “A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses,” in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 8, pp. 1335-1340, Aug. 2006

  • RadialTangential: Radial tangential model with x4 parameters [k1, k2, p1, p2]. (k1, k2) are the radial distortion parameters, while (p1, p2) are the tangential distortion parameters This distortion type is also known as the Plumb Bob model or Brown-Conrady model. For more information please check the following reference: D. C. Brown. “Lens Distortion for Close-Range Photogrammetry”, Photometric Engineering, pages 855-866, Vol. 37, No. 8, 1971

  • NoDistortion: Zero distortion, ideal camera lens

  • RadialTangential8: Radial tangential model with x8 parameters [k1, k2, k3, k4, k5, k6, p1, p2]. (k1..k6) are the radial distortion parameters, while (p1, p2) are the tangential distortion parameters. Similar to the RadialTangential model but with a higher order polynomial for approximating the radial distortion

Note

The order of the distortion parameters in the configuration files is (k1, k2, p1, p2, k3, k4, k5, k6)

Values:

enumerator Equidistant
enumerator RadialTangential
enumerator NoDistortion
enumerator RadialTangential8
enumerator Count
namespace slamcore

Main namespace for the Slamcore public API

Helper functions for slamcore::DistortionType

template<class Archive>
static inline std::string save_minimal(const Archive&, const DistortionType &obj)
template<class Archive>
static inline void load_minimal(const Archive&, DistortionType &obj, const std::string &value)
static inline std::ostream &operator<<(std::ostream &os, const DistortionType &obj)

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Get information about the client library

Enums

enum class DistortionType : uint16_t

Currently supported camera distortion types

  • Equidistant: Equidistant model with x4 parameters [k2, k3, k4, k5] This distortion type is equivalent to the Kannala-Brandt type up to ninth-order polynomial with k1 = 1. For more information please check the following reference: J. Kannala and S. S. Brandt, “A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses,” in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 8, pp. 1335-1340, Aug. 2006

  • RadialTangential: Radial tangential model with x4 parameters [k1, k2, p1, p2]. (k1, k2) are the radial distortion parameters, while (p1, p2) are the tangential distortion parameters This distortion type is also known as the Plumb Bob model or Brown-Conrady model. For more information please check the following reference: D. C. Brown. “Lens Distortion for Close-Range Photogrammetry”, Photometric Engineering, pages 855-866, Vol. 37, No. 8, 1971

  • NoDistortion: Zero distortion, ideal camera lens

  • RadialTangential8: Radial tangential model with x8 parameters [k1, k2, k3, k4, k5, k6, p1, p2]. (k1..k6) are the radial distortion parameters, while (p1, p2) are the tangential distortion parameters. Similar to the RadialTangential model but with a higher order polynomial for approximating the radial distortion

Note

The order of the distortion parameters in the configuration files is (k1, k2, p1, p2, k3, k4, k5, k6)

Values:

enumerator Equidistant
enumerator RadialTangential
enumerator NoDistortion
enumerator RadialTangential8
enumerator Count