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[926] | 1 | function [x] = comp_distortion_oulu(xd,k); |
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| 2 | |
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| 3 | %comp_distortion_oulu.m |
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| 4 | % |
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| 5 | %[x] = comp_distortion_oulu(xd,k) |
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| 6 | % |
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| 7 | %Compensates for radial and tangential distortion. Model From Oulu university. |
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| 8 | %For more informatino about the distortion model, check the forward projection mapping function: |
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| 9 | %project_points.m |
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| 10 | % |
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| 11 | %INPUT: xd: distorted (normalized) point coordinates in the image plane (2xN matrix) |
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| 12 | % k: Distortion coefficients (radial and tangential) (4x1 vector) |
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| 13 | % |
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| 14 | %OUTPUT: x: undistorted (normalized) point coordinates in the image plane (2xN matrix) |
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| 15 | % |
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| 16 | %Method: Iterative method for compensation. |
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| 17 | % |
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| 18 | %NOTE: This compensation has to be done after the subtraction |
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| 19 | % of the principal point, and division by the focal length. |
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| 20 | |
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| 21 | |
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| 22 | if length(k) == 1, |
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| 23 | |
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| 24 | [x] = comp_distortion(xd,k); |
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| 25 | |
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| 26 | else |
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| 27 | |
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| 28 | k1 = k(1); |
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| 29 | k2 = k(2); |
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| 30 | k3 = k(5); |
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| 31 | p1 = k(3); |
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| 32 | p2 = k(4); |
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| 33 | |
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| 34 | x = xd; % initial guess |
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| 35 | |
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| 36 | for kk=1:20, |
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| 37 | |
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| 38 | r_2 = sum(x.^2); |
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| 39 | k_radial = 1 + k1 * r_2 + k2 * r_2.^2 + k3 * r_2.^3; |
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| 40 | delta_x = [2*p1*x(1,:).*x(2,:) + p2*(r_2 + 2*x(1,:).^2); |
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| 41 | p1 * (r_2 + 2*x(2,:).^2)+2*p2*x(1,:).*x(2,:)]; |
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| 42 | x = (xd - delta_x)./(ones(2,1)*k_radial); |
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| 43 | |
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| 44 | end; |
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| 45 | |
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| 46 | end; |
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| 47 | |
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| 48 | |
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