added undistort point

2019-05-21 14:26:26 +02:00
parent 0f96c916f1
commit 2aef2089aa
2 changed files with 51 additions and 0 deletions
--- a/include/msckf_vio/image_handler.h
+++ b/include/msckf_vio/image_handler.h
@ -36,6 +36,16 @@ cv::Point2f distortPoint(
    const cv::Vec4d& intrinsics,
    const std::string& distortion_model,
    const cv::Vec4d& distortion_coeffs);
+
+void undistortPoint(
+    const cv::Point2f& pt_in,
+    const cv::Vec4d& intrinsics,
+    const std::string& distortion_model,
+    const cv::Vec4d& distortion_coeffs,
+    cv::Point2f& pt_out,
+    const cv::Matx33d &rectification_matrix = cv::Matx33d::eye(),
+    const cv::Vec4d &new_intrinsics = cv::Vec4d(1,1,0,0));
+
 }
 }
 #endif