52 lines
1.3 KiB
C++
52 lines
1.3 KiB
C++
#ifndef MSCKF_VIO_IMAGE_HANDLER_H
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#define MSCKF_VIO_IMAGE_HANDLER_H
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#include <vector>
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#include <boost/shared_ptr.hpp>
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#include <opencv2/opencv.hpp>
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#include <opencv2/video.hpp>
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#include <ros/ros.h>
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#include <cv_bridge/cv_bridge.h>
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namespace msckf_vio {
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/*
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* @brief utilities for msckf_vio
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*/
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namespace image_handler {
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void undistortPoints(
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const std::vector<cv::Point2f>& pts_in,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs,
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std::vector<cv::Point2f>& pts_out,
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const cv::Matx33d &rectification_matrix = cv::Matx33d::eye(),
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const cv::Vec4d &new_intrinsics = cv::Vec4d(1,1,0,0));
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std::vector<cv::Point2f> distortPoints(
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const std::vector<cv::Point2f>& pts_in,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs);
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cv::Point2f distortPoint(
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const cv::Point2f& pt_in,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs);
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void undistortPoint(
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const cv::Point2f& pt_in,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs,
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cv::Point2f& pt_out,
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const cv::Matx33d &rectification_matrix = cv::Matx33d::eye(),
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const cv::Vec4d &new_intrinsics = cv::Vec4d(1,1,0,0));
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}
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}
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#endif
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