Class distortion_t

• Defined in File camera.hpp

Class Documentation

class distortion_t

Camera distortion-parameter model.

This class stores lens distortion coefficients.

Public Functions

inline distortion_t()

Default constructor initializes an empty distortion model.

inline explicit distortion_t(const Eigen::VectorXd &coefficients_)

Constructs a distortion model from a given vector of coefficients.

Parameters:

coefficients_ – Distortion coefficient vector in calibration order.

inline distortion_t(std::initializer_list<double> coefficients_)

Constructs a distortion model from an initializer list of coefficients.

Parameters:

coefficients_ – Distortion coefficients in calibration order.

inline bool empty() const

Checks if the distortion model is empty (i.e., has no coefficients).

Returns:

true when no distortion coefficients are available.

inline distortion_t clone() const

Creates a copy of the current distortion model.

Returns:

Copy of this distortion object.

inline size_t size() const

Returns the number of distortion coefficients.

Returns:

Number of stored distortion coefficients.

inline double operator[](const size_t index_) const

Accesses the distortion coefficient at the specified index.

Parameters:

index_ – Zero-based coefficient index to access.

Returns:

Distortion coefficient value at index_.

inline const Eigen::VectorXd &coefficients() const

Retrieves the vector of distortion coefficients.

Returns:

Const reference to the full coefficient vector.

Private Members

Eigen::VectorXd _coefficients

Distortion coefficients.

bool _isSet

Indicates whether distortion coefficients are initialized.