tinytum works completely, image_handler equidistant distort/undistort work

2019-06-27 16:28:45 +02:00
parent bcf948bcc1
commit 010db87e4b
5 changed files with 29 additions and 22 deletions
--- a/include/msckf_vio/image_handler.h
+++ b/include/msckf_vio/image_handler.h
@ -16,6 +16,16 @@ namespace msckf_vio {
 */
 namespace image_handler {

+cv::Point2f pinholeDownProject(const cv::Point2f& p_in, const cv::Vec4d& intrinsics);
+cv::Point2f pinholeUpProject(const cv::Point2f& p_in, const cv::Vec4d& intrinsics);
+
+void undistortImage(
+  cv::InputArray src,
+  cv::OutputArray dst,
+  const std::string& distortion_model,
+  const cv::Vec4d& intrinsics,
+  const cv::Vec4d& distortion_coeffs);
+
 void undistortPoints(
    const std::vector<cv::Point2f>& pts_in,
    const cv::Vec4d& intrinsics,