# source:trunk/src/toolbox_calib/comp_distortion_oulu.m@1032

Last change on this file since 1032 was 926, checked in by sommeria, 8 years ago

geometry cqlib updated

File size: 1.2 KB
Line
1function [x] = comp_distortion_oulu(xd,k);
2
3%comp_distortion_oulu.m
4%
5%[x] = comp_distortion_oulu(xd,k)
6%
7%Compensates for radial and tangential distortion. Model From Oulu university.
9%project_points.m
10%
11%INPUT: xd: distorted (normalized) point coordinates in the image plane (2xN matrix)
12%       k: Distortion coefficients (radial and tangential) (4x1 vector)
13%
14%OUTPUT: x: undistorted (normalized) point coordinates in the image plane (2xN matrix)
15%
16%Method: Iterative method for compensation.
17%
18%NOTE: This compensation has to be done after the subtraction
19%      of the principal point, and division by the focal length.
20
21
22if length(k) == 1,
23
24    [x] = comp_distortion(xd,k);
25
26else
27
28    k1 = k(1);
29    k2 = k(2);
30    k3 = k(5);
31    p1 = k(3);
32    p2 = k(4);
33
34    x = xd;                             % initial guess
35
36    for kk=1:20,
37
38        r_2 = sum(x.^2);
39        k_radial =  1 + k1 * r_2 + k2 * r_2.^2 + k3 * r_2.^3;
40        delta_x = [2*p1*x(1,:).*x(2,:) + p2*(r_2 + 2*x(1,:).^2);
41        p1 * (r_2 + 2*x(2,:).^2)+2*p2*x(1,:).*x(2,:)];
42        x = (xd - delta_x)./(ones(2,1)*k_radial);
43
44    end;
45
46end;
47
48
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