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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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