distortion.h File Reference

Lens distortion models and correction algorithms. More...

#include <algorithm>
#include <concepts>
#include <optional>
#include <span>
#include <stdexcept>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Dense>
#include "calib/io/serialization.h"
#include "calib/models/camera_matrix.h"

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Classes
struct	calib::Observation< T >
	Observation structure for distortion parameter estimation. More...
struct	calib::DistortionWithResiduals< T >
struct	calib::BrownConrady< Scalar_ >
struct	calib::DualBrownConrady< Scalar_ >
struct	calib::DualDistortionWithResiduals

Namespaces
namespace	calib
	Linear multi-camera extrinsics initialisation (DLT)

Concepts
concept	calib::distortion_model
	Concept defining the interface for lens distortion models.

Typedefs
using	calib::BrownConradyd = BrownConrady< double >
using	calib::DualDistortion = DualBrownConrady< double >

Functions
template<typename T >
auto	calib::apply_distortion (const Eigen::Matrix< T, 2, 1 > &norm_xy, const Eigen::Matrix< T, Eigen::Dynamic, 1 > &coeffs) -> Eigen::Matrix< T, 2, 1 >
	Apply lens distortion to normalized coordinates.
template<typename T >
auto	calib::undistort (Eigen::Matrix< T, 2, 1 > norm_xy, const Eigen::Matrix< T, Eigen::Dynamic, 1 > &coeffs) -> Eigen::Matrix< T, 2, 1 >
template<typename Scalar >
auto	calib::invert_brown_conrady (const Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > &forward) -> Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >
template<typename T >
auto	calib::fit_distortion_full (const std::vector< Observation< T > > &observations, const CameraMatrixT< T > &intrinsics, int num_radial=2, std::span< const int > fixed_indices={}, std::span< const T > fixed_values={}) -> std::optional< DistortionWithResiduals< T > >
template<typename T >
auto	calib::fit_distortion (const std::vector< Observation< T > > &observations, const CameraMatrixT< T > &intrinsics, int num_radial=2, std::span< const int > fixed_indices={}, std::span< const T > fixed_values={}) -> std::optional< DistortionWithResiduals< T > >
auto	calib::fit_distortion_dual (const std::vector< Observation< double > > &observations, const CameraMatrix &intrinsics, int num_radial=2, std::span< const int > fixed_indices={}, std::span< const double > fixed_values={}) -> std::optional< DualDistortionWithResiduals >
void	calib::to_json (nlohmann::json &j, const DualDistortion &d)
void	calib::from_json (const nlohmann::json &j, DualDistortion &d)
void	calib::to_json (nlohmann::json &j, const BrownConradyd &d)
void	calib::from_json (const nlohmann::json &j, BrownConradyd &d)

Detailed Description

Lens distortion models and correction algorithms.

This file provides comprehensive lens distortion functionality including:

• C++20 concept-based distortion model interface
• Radial and tangential distortion correction
• Forward and inverse distortion mapping
• Linear least squares design matrix computation for distortion parameters

Definition in file distortion.h.