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<div class="title">brown_conrady.h</div> </div>
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<a href="brown__conrady_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (c) 2011, Hauke Strasdat</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Copyright (c) 2012, Steven Lovegrove</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Copyright (c) 2021, farm-ng, inc.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Use of this source code is governed by an MIT-style</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// license that can be found in the LICENSE file or at</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// https://opensource.org/licenses/MIT.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="jet__helpers_8h.html">sophus/ceres/jet_helpers.h</a>"</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="common_2common_8h.html">sophus/common/common.h</a>"</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="affine_8h.html">sophus/sensor/camera_distortion/affine.h</a>"</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <Eigen/Dense></span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">namespace </span><a class="code" href="namespacesophus.html">sophus</a> {</div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html"> 18</a></span> <span class="keyword">class </span><a class="code" href="classsophus_1_1_brown_conrady_transform.html">BrownConradyTransform</a> {</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#a594b41bb33060ad0db81b18766ff2c53"> 20</a></span>  <span class="keyword">static</span> <span class="keywordtype">int</span> constexpr <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a594b41bb33060ad0db81b18766ff2c53">kNumDistortionParams</a> = 8;</div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#acaece271f72351292da71c6c60542d80"> 21</a></span>  <span class="keyword">static</span> <span class="keywordtype">int</span> constexpr <a class="code" href="classsophus_1_1_brown_conrady_transform.html#acaece271f72351292da71c6c60542d80">kNumParams</a> = <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a594b41bb33060ad0db81b18766ff2c53">kNumDistortionParams</a> + 4;</div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#a2a7a6a82089e82d619ae6a5d23d2e266"> 22</a></span>  <span class="keyword">static</span> std::string_view constexpr <span class="keyword">const</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a2a7a6a82089e82d619ae6a5d23d2e266">kProjectionModel</a> =</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="stringliteral">"BrownConrady: fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, k5, k6"</span>;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#a00640c9d835bfb3ceba050deefd643bf"> 26</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a00640c9d835bfb3ceba050deefd643bf">ProjInCameraZ1Plane</a> = Eigen::Matrix<TScalar, 2, 1>;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311"> 28</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage</a> = Eigen::Matrix<TScalar, 2, 1>;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#af6688193ecd220aabc3402afecce386e"> 30</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#af6688193ecd220aabc3402afecce386e">Params</a> = Eigen::Matrix<TScalar, kNumParams, 1>;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#ac85d2f870fd3965473ae92d4d8e98bef"> 32</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#ac85d2f870fd3965473ae92d4d8e98bef">DistorationParams</a> = Eigen::Matrix<TScalar, kNumDistortionParams, 1>;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TParamScalarT, <span class="keyword">class</span> TPo<span class="keywordtype">int</span>ScalarT></div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#a8e4e1130ba46cc19e44dbed8dfab3147"> 35</a></span>  <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a8e4e1130ba46cc19e44dbed8dfab3147">projImpl</a>(</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#ac85d2f870fd3965473ae92d4d8e98bef">DistorationParams<TParamScalarT></a> <span class="keyword">const</span>& distortion,</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<TPointScalarT></a> <span class="keyword">const</span>& point_normalized)</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  -> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage</a><<span class="keyword">typename</span> Eigen::ScalarBinaryOpTraits<</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  TParamScalarT,</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  TPointScalarT>::ReturnType> {</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">using</span> ReturnScalar = <span class="keyword">typename</span> Eigen::</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  ScalarBinaryOpTraits<TParamScalarT, TPointScalarT>::ReturnType;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="comment">// aliases to match opencv's implementation</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">auto</span> x = point_normalized[0];</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">auto</span> y = point_normalized[1];</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">auto</span> <span class="keyword">const</span>& k = distortion;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="comment">// From:</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="comment">// https://github.com/opencv/opencv/blob/63bb2abadab875fc648a572faccafee134f06fc8/modules/calib3d/src/calibration.cpp#L791</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">auto</span> r2 = x * x + y * y;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">auto</span> r4 = r2 * r2;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">auto</span> r6 = r4 * r2;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">auto</span> a1 = 2.0 * x * y;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">auto</span> a2 = r2 + 2.0 * x * x;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">auto</span> a3 = r2 + 2.0 * y * y;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">auto</span> cdist = 1.0 + k[0] * r2 + k[1] * r4 + k[4] * r6;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">auto</span> icdist2 = 1.0 / (1.0 + k[5] * r2 + k[6] * r4 + k[7] * r6);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">auto</span> xd0 = x * cdist * icdist2 + k[2] * a1 + k[3] * a2;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">auto</span> yd0 = y * cdist * icdist2 + k[2] * a3 + k[3] * a1;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<ReturnScalar></a>(xd0, yd0);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#a21de6c8e3f9ae307b3a65bf82fc1ead8"> 67</a></span>  <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a21de6c8e3f9ae307b3a65bf82fc1ead8">unprojImpl</a>(</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#ac85d2f870fd3965473ae92d4d8e98bef">DistorationParams<TScalar></a> <span class="keyword">const</span>& distortion,</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<TScalar></a> <span class="keyword">const</span>& uv_normalized) -> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<TScalar></a> {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// We had no luck with OpenCV's undistort. It seems not to be accurate if</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// "icdist" is close to 0.</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">// https://github.com/opencv/opencv/blob/63bb2abadab875fc648a572faccafee134f06fc8/modules/calib3d/src/undistort.dispatch.cpp#L365</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// Hence, we derive the inverse approximation scheme from scratch.</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="comment">// Objective: find that xy such that proj_impl(xy) = uv</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="comment">// Using multivariate Newton scheme, by defining f and find the root of it:</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="comment">// f: R^2 -> R^2</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">// f(xy) := proj_impl(xy) - uv</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// xy_i+1 = xy_i + J^{-1} * f(xy) with J being the Jacobian of f.</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="comment">// TODO(hauke): There is most likely a 1-dimensional embedding and one only</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="comment">// need to solve a less computational heavy newton iteration...</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="comment">// initial guess</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<TScalar></a> xy = uv_normalized;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < 50; ++i) {</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  TScalar x = xy[0];</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  TScalar y = xy[1];</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<TScalar></a> f_xy =</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a8e4e1130ba46cc19e44dbed8dfab3147">projImpl</a>(distortion, Eigen::Matrix<TScalar, 2, 1>(x, y)) -</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  uv_normalized;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  TScalar du_dx;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  TScalar du_dy;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  TScalar dv_dx;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  TScalar dv_dy;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  {</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// Generated by brown_conrady_camera.py</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  TScalar <span class="keyword">const</span> a = x;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  TScalar <span class="keyword">const</span> b = y;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#ac85d2f870fd3965473ae92d4d8e98bef">DistorationParams<TScalar></a> <span class="keyword">const</span>& d = distortion;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  TScalar <span class="keyword">const</span> c0 = a * a; <span class="comment">// pow(a, 2);</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  TScalar <span class="keyword">const</span> c1 = b * b; <span class="comment">// pow(b, 2);</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  TScalar <span class="keyword">const</span> c2 = c0 + c1;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  TScalar <span class="keyword">const</span> c3 = c2 * c2; <span class="comment">// pow(c2, 2);</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  TScalar <span class="keyword">const</span> c4 = c3 * c2; <span class="comment">// pow(c2, 3);</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  TScalar <span class="keyword">const</span> c5 = c2 * d[5] + c3 * d[6] + c4 * d[7] + 1.0;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  TScalar <span class="keyword">const</span> c6 = c5 * c5; <span class="comment">// pow(c5, 2);</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  TScalar <span class="keyword">const</span> c7 = 1.0 / c6;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  TScalar <span class="keyword">const</span> c8 = a * d[3];</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  TScalar <span class="keyword">const</span> c9 = 2.0 * d[2];</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  TScalar <span class="keyword">const</span> c10 = 2 * c2;</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  TScalar <span class="keyword">const</span> c11 = 3 * c3;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  TScalar <span class="keyword">const</span> c12 = c2 * d[0];</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  TScalar <span class="keyword">const</span> c13 = c3 * d[1];</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  TScalar <span class="keyword">const</span> c14 = c4 * d[4];</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  TScalar <span class="keyword">const</span> c15 =</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  2.0 * (c10 * d[6] + c11 * d[7] + d[5]) * (c12 + c13 + c14 + 1.0);</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  TScalar <span class="keyword">const</span> c16 = 2.0 * c10 * d[1] + 2.0 * c11 * d[4] + 2.0 * d[0];</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  TScalar <span class="keyword">const</span> c17 = 1.0 * c12 + 1.0 * c13 + 1.0 * c14 + 1.0;</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  TScalar <span class="keyword">const</span> c18 = b * d[3];</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  TScalar <span class="keyword">const</span> c19 = a * b;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  TScalar <span class="keyword">const</span> c20 = -c15 * c19 + c16 * c19 * c5;</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  du_dx =</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  c7 * (-c0 * c15 + c5 * (c0 * c16 + c17) + c6 * (b * c9 + 6.0 * c8));</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  du_dy = c7 * (c20 + c6 * (a * c9 + 2 * c18));</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  dv_dx = c7 * (c20 + c6 * (2 * a * d[2] + 2.0 * c18));</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  dv_dy = c7 * (-c1 * c15 + c5 * (c1 * c16 + c17) +</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  c6 * (6.0 * b * d[2] + 2.0 * c8));</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="comment">// | du_dx du_dy | | a b |</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="comment">// J = | | =: | |</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="comment">// | dv_dx dv_dy | | c d |</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  TScalar a = du_dx;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  TScalar b = du_dy;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  TScalar c = dv_dx;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  TScalar d = dv_dy;</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="comment">// | a b | -1 1 | d -b |</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="comment">// | | = ----- | |</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="comment">// | c d | ad-bc | -c a |</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  Eigen::Matrix<TScalar, 2, 2> m;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="comment">// clang-format off</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  m << d, -b,</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  -c, a;</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="comment">// clang-format on</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  Eigen::Matrix<TScalar, 2, 2> j_inv = TScalar(1) / (a * d - b * c) * m;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<TScalar></a> step = j_inv * f_xy;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">if</span> (abs(<a class="code" href="structsophus_1_1jet__helpers_1_1_get_value.html">jet_helpers::GetValue<TScalar>::impl</a>(step.squaredNorm())) <</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  sophus::kEpsilon<TScalar> * sophus::kEpsilon<TScalar>) {</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  xy -= step;</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  }</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">return</span> xy;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  }</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TParamsTypeT, <span class="keyword">class</span> TPo<span class="keywordtype">int</span>TypeT></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#aa976c77645f24c878c0a80b2128373fe"> 174</a></span>  <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#aa976c77645f24c878c0a80b2128373fe">distort</a>(</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  Eigen::MatrixBase<TParamsTypeT> <span class="keyword">const</span>& params,</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  Eigen::MatrixBase<TPointTypeT> <span class="keyword">const</span>& proj_point_in_camera_z1_plane)</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  -> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<typename TPointTypeT::Scalar></a> {</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keyword">using</span> ParamScalar = <span class="keyword">typename</span> TParamsTypeT::Scalar;</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  static_assert(</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  TParamsTypeT::ColsAtCompileTime == 1, <span class="stringliteral">"params must be a column-vector"</span>);</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  static_assert(</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  TParamsTypeT::RowsAtCompileTime == <a class="code" href="classsophus_1_1_brown_conrady_transform.html#acaece271f72351292da71c6c60542d80">kNumParams</a>,</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="stringliteral">"params must have exactly kNumParams rows"</span>);</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  static_assert(</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  TPointTypeT::ColsAtCompileTime == 1,</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="stringliteral">"point_camera must be a column-vector"</span>);</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  static_assert(</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  TPointTypeT::RowsAtCompileTime == 2,</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="stringliteral">"point_camera must have exactly 2 columns"</span>);</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  Eigen::Matrix<ParamScalar, kNumDistortionParams, 1> distortion =</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  params.template tail<kNumDistortionParams>();</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<typename TPointTypeT::Scalar></a></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  distorted_point_in_camera_z1_plane =</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a8e4e1130ba46cc19e44dbed8dfab3147">projImpl</a>(distortion, proj_point_in_camera_z1_plane.eval());</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_affine_transform.html#a204086c89c1d7e9830e504a7dcb46a31">AffineTransform::distort</a>(</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  params.template head<4>(), distorted_point_in_camera_z1_plane);</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  }</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#aee85e2b4fd4b17cbde45195e90ae7dff"> 204</a></span>  <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#aee85e2b4fd4b17cbde45195e90ae7dff">undistort</a>(</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#af6688193ecd220aabc3402afecce386e">Params<TScalar></a> <span class="keyword">const</span>& params, <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<TScalar></a> <span class="keyword">const</span>& pixel_image)</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  -> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a00640c9d835bfb3ceba050deefd643bf">ProjInCameraZ1Plane<TScalar></a> {</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">PixelImage<TScalar></a> proj_point_in_camera_z1_plane = <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a21de6c8e3f9ae307b3a65bf82fc1ead8">unprojImpl</a>(</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  params.template tail<kNumDistortionParams>().eval(),</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <a class="code" href="classsophus_1_1_affine_transform.html#afa8feddd6781dee7a82e97bd1852d14a">AffineTransform::undistort</a>(</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  params.template head<4>().eval(), pixel_image));</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a00640c9d835bfb3ceba050deefd643bf">ProjInCameraZ1Plane<TScalar></a>(</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  proj_point_in_camera_z1_plane[0], proj_point_in_camera_z1_plane[1]);</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  }</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TParamsTypeT, <span class="keyword">class</span> TPo<span class="keywordtype">int</span>TypeT></div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classsophus_1_1_brown_conrady_transform.html#a08ddd70983ecd821a1cb21f0d49a6987"> 217</a></span>  <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_brown_conrady_transform.html#a08ddd70983ecd821a1cb21f0d49a6987">dxDistort</a>(</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  Eigen::MatrixBase<TParamsTypeT> <span class="keyword">const</span>& params,</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  Eigen::MatrixBase<TPointTypeT> <span class="keyword">const</span>& proj_point_in_camera_z1_plane)</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  -> Eigen::Matrix<typename TPointTypeT::Scalar, 2, 2> {</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  static_assert(</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  TParamsTypeT::ColsAtCompileTime == 1, <span class="stringliteral">"params must be a column-vector"</span>);</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  static_assert(</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  TParamsTypeT::RowsAtCompileTime == <a class="code" href="classsophus_1_1_brown_conrady_transform.html#acaece271f72351292da71c6c60542d80">kNumParams</a>,</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="stringliteral">"params must have exactly kNumParams rows"</span>);</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  static_assert(</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  TPointTypeT::ColsAtCompileTime == 1,</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="stringliteral">"point_camera must be a column-vector"</span>);</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  static_assert(</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  TPointTypeT::RowsAtCompileTime == 2,</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="stringliteral">"point_camera must have exactly 2 columns"</span>);</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keyword">using</span> Scalar = <span class="keyword">typename</span> TPointTypeT::Scalar;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  Eigen::Matrix<Scalar, kNumDistortionParams, 1> d =</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  params.template tail<kNumDistortionParams>();</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  Scalar a = proj_point_in_camera_z1_plane[0];</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  Scalar b = proj_point_in_camera_z1_plane[1];</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  </div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  Eigen::Matrix<typename TPointTypeT::Scalar, 2, 2> dx;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  Scalar <span class="keyword">const</span> fx = params[0];</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  Scalar <span class="keyword">const</span> fy = params[1];</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  </div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="comment">// Generated by brown_conrady_camera.py</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  Scalar <span class="keyword">const</span> c0 = a * d[3];</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  Scalar <span class="keyword">const</span> c1 = 2.0 * d[2];</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  Scalar <span class="keyword">const</span> c2 = a * a; <span class="comment">// pow(a, 2);</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  Scalar <span class="keyword">const</span> c3 = b * b; <span class="comment">// pow(b, 2);</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  Scalar <span class="keyword">const</span> c4 = c2 + c3;</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  Scalar <span class="keyword">const</span> c5 = c4 * c4; <span class="comment">// pow(c4, 2);</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  Scalar <span class="keyword">const</span> c6 = c5 * c4; <span class="comment">// pow(c4, 3);</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  Scalar <span class="keyword">const</span> c7 = c4 * d[5] + c5 * d[6] + c6 * d[7] + 1.0;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  Scalar <span class="keyword">const</span> c8 = c7 * c7; <span class="comment">// pow(c7, 2);</span></div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  Scalar <span class="keyword">const</span> c9 = 2 * c4;</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  Scalar <span class="keyword">const</span> c10 = 3 * c5;</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  Scalar <span class="keyword">const</span> c11 = c4 * d[0];</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  Scalar <span class="keyword">const</span> c12 = c5 * d[1];</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  Scalar <span class="keyword">const</span> c13 = c6 * d[4];</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  Scalar <span class="keyword">const</span> c14 =</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  2.0 * (c10 * d[7] + c9 * d[6] + d[5]) * (c11 + c12 + c13 + 1.0);</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  Scalar <span class="keyword">const</span> c15 = 2.0 * c10 * d[4] + 2.0 * c9 * d[1] + 2.0 * d[0];</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  Scalar <span class="keyword">const</span> c16 = 1.0 * c11 + 1.0 * c12 + 1.0 * c13 + 1.0;</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  Scalar <span class="keyword">const</span> c17 = 1.0 / c8;</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  Scalar <span class="keyword">const</span> c18 = c17 * fx;</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  Scalar <span class="keyword">const</span> c19 = b * d[3];</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  Scalar <span class="keyword">const</span> c20 = a * b;</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  Scalar <span class="keyword">const</span> c21 = -c14 * c20 + c15 * c20 * c7;</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  Scalar <span class="keyword">const</span> c22 = c17 * fy;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  dx(0, 0) =</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  c18 * (-c14 * c2 + c7 * (c15 * c2 + c16) + c8 * (b * c1 + 6.0 * c0));</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  dx(0, 1) = c22 * (c21 + c8 * (2 * a * d[2] + 2.0 * c19));</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  dx(1, 0) = c18 * (c21 + c8 * (a * c1 + 2 * c19));</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  dx(1, 1) = c22 * (-c14 * c3 + c7 * (c15 * c3 + c16) +</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  c8 * (6.0 * b * d[2] + 2.0 * c0));</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  </div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">return</span> dx;</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  }</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> };</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> } <span class="comment">// namespace sophus</span></div>
<div class="ttc" id="aaffine_8h_html"><div class="ttname"><a href="affine_8h.html">affine.h</a></div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_a204086c89c1d7e9830e504a7dcb46a31"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#a204086c89c1d7e9830e504a7dcb46a31">sophus::AffineTransform::distort</a></div><div class="ttdeci">static auto distort(Eigen::MatrixBase< TParamsTypeT > const &params, Eigen::MatrixBase< TPointTypeT > const &proj_point_in_camera_z1_plane) -> PixelImage< typename TPointTypeT::Scalar ></div><div class="ttdef"><b>Definition:</b> affine.h:32</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_afa8feddd6781dee7a82e97bd1852d14a"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#afa8feddd6781dee7a82e97bd1852d14a">sophus::AffineTransform::undistort</a></div><div class="ttdeci">static auto undistort(Params< TScalar > const &params, PixelImage< TScalar > const &pixel_image) -> ProjInCameraZ1Plane< TScalar ></div><div class="ttdef"><b>Definition:</b> affine.h:54</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html">sophus::BrownConradyTransform</a></div><div class="ttdef"><b>Definition:</b> brown_conrady.h:18</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_a00640c9d835bfb3ceba050deefd643bf"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#a00640c9d835bfb3ceba050deefd643bf">sophus::BrownConradyTransform::ProjInCameraZ1Plane</a></div><div class="ttdeci">Eigen::Matrix< TScalar, 2, 1 > ProjInCameraZ1Plane</div><div class="ttdef"><b>Definition:</b> brown_conrady.h:26</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_a08ddd70983ecd821a1cb21f0d49a6987"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#a08ddd70983ecd821a1cb21f0d49a6987">sophus::BrownConradyTransform::dxDistort</a></div><div class="ttdeci">static auto dxDistort(Eigen::MatrixBase< TParamsTypeT > const &params, Eigen::MatrixBase< TPointTypeT > const &proj_point_in_camera_z1_plane) -> Eigen::Matrix< typename TPointTypeT::Scalar, 2, 2 ></div><div class="ttdef"><b>Definition:</b> brown_conrady.h:217</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_a21de6c8e3f9ae307b3a65bf82fc1ead8"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#a21de6c8e3f9ae307b3a65bf82fc1ead8">sophus::BrownConradyTransform::unprojImpl</a></div><div class="ttdeci">static auto unprojImpl(DistorationParams< TScalar > const &distortion, PixelImage< TScalar > const &uv_normalized) -> PixelImage< TScalar ></div><div class="ttdef"><b>Definition:</b> brown_conrady.h:67</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_a2a7a6a82089e82d619ae6a5d23d2e266"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#a2a7a6a82089e82d619ae6a5d23d2e266">sophus::BrownConradyTransform::kProjectionModel</a></div><div class="ttdeci">static constexpr std::string_view const kProjectionModel</div><div class="ttdef"><b>Definition:</b> brown_conrady.h:22</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_a594b41bb33060ad0db81b18766ff2c53"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#a594b41bb33060ad0db81b18766ff2c53">sophus::BrownConradyTransform::kNumDistortionParams</a></div><div class="ttdeci">static constexpr int kNumDistortionParams</div><div class="ttdef"><b>Definition:</b> brown_conrady.h:20</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_a5fb41f5c028bf975acceac207a910311"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#a5fb41f5c028bf975acceac207a910311">sophus::BrownConradyTransform::PixelImage</a></div><div class="ttdeci">Eigen::Matrix< TScalar, 2, 1 > PixelImage</div><div class="ttdef"><b>Definition:</b> brown_conrady.h:28</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_a8e4e1130ba46cc19e44dbed8dfab3147"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#a8e4e1130ba46cc19e44dbed8dfab3147">sophus::BrownConradyTransform::projImpl</a></div><div class="ttdeci">static auto projImpl(DistorationParams< TParamScalarT > const &distortion, PixelImage< TPointScalarT > const &point_normalized) -> PixelImage< typename Eigen::ScalarBinaryOpTraits< TParamScalarT, TPointScalarT >::ReturnType ></div><div class="ttdef"><b>Definition:</b> brown_conrady.h:35</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_aa976c77645f24c878c0a80b2128373fe"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#aa976c77645f24c878c0a80b2128373fe">sophus::BrownConradyTransform::distort</a></div><div class="ttdeci">static auto distort(Eigen::MatrixBase< TParamsTypeT > const &params, Eigen::MatrixBase< TPointTypeT > const &proj_point_in_camera_z1_plane) -> PixelImage< typename TPointTypeT::Scalar ></div><div class="ttdef"><b>Definition:</b> brown_conrady.h:174</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_ac85d2f870fd3965473ae92d4d8e98bef"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#ac85d2f870fd3965473ae92d4d8e98bef">sophus::BrownConradyTransform::DistorationParams</a></div><div class="ttdeci">Eigen::Matrix< TScalar, kNumDistortionParams, 1 > DistorationParams</div><div class="ttdef"><b>Definition:</b> brown_conrady.h:32</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_acaece271f72351292da71c6c60542d80"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#acaece271f72351292da71c6c60542d80">sophus::BrownConradyTransform::kNumParams</a></div><div class="ttdeci">static constexpr int kNumParams</div><div class="ttdef"><b>Definition:</b> brown_conrady.h:21</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_aee85e2b4fd4b17cbde45195e90ae7dff"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#aee85e2b4fd4b17cbde45195e90ae7dff">sophus::BrownConradyTransform::undistort</a></div><div class="ttdeci">static auto undistort(Params< TScalar > const &params, PixelImage< TScalar > const &pixel_image) -> ProjInCameraZ1Plane< TScalar ></div><div class="ttdef"><b>Definition:</b> brown_conrady.h:204</div></div>
<div class="ttc" id="aclasssophus_1_1_brown_conrady_transform_html_af6688193ecd220aabc3402afecce386e"><div class="ttname"><a href="classsophus_1_1_brown_conrady_transform.html#af6688193ecd220aabc3402afecce386e">sophus::BrownConradyTransform::Params</a></div><div class="ttdeci">Eigen::Matrix< TScalar, kNumParams, 1 > Params</div><div class="ttdef"><b>Definition:</b> brown_conrady.h:30</div></div>
<div class="ttc" id="acommon_2common_8h_html"><div class="ttname"><a href="common_2common_8h.html">common.h</a></div><div class="ttdoc">Common functionality.</div></div>
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<div class="ttc" id="anamespacesophus_html"><div class="ttname"><a href="namespacesophus.html">sophus</a></div><div class="ttdoc">Image MutImage, owning images types.</div><div class="ttdef"><b>Definition:</b> num_diff.h:20</div></div>
<div class="ttc" id="astructsophus_1_1jet__helpers_1_1_get_value_html"><div class="ttname"><a href="structsophus_1_1jet__helpers_1_1_get_value.html">sophus::jet_helpers::GetValue</a></div><div class="ttdef"><b>Definition:</b> jet_helpers.h:23</div></div>
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