Last change
on this file since 1160 was
999,
checked in by g7moreau, 8 years ago

 Remove tab and end of line space

File size:
1.1 KB

Line  

1  function [xn] = normalize_pixel(x_kk,fc,cc,kc,alpha_c) 

2  

3  %normalize 

4  % 

5  %[xn] = normalize_pixel(x_kk,fc,cc,kc,alpha_c) 

6  % 

7  %Computes the normalized coordinates xn given the pixel coordinates x_kk 

8  %and the intrinsic camera parameters fc, cc and kc. 

9  % 

10  %INPUT: x_kk: Feature locations on the images 

11  % fc: Camera focal length 

12  % cc: Principal point coordinates 

13  % kc: Distortion coefficients 

14  % alpha_c: Skew coefficient 

15  % 

16  %OUTPUT: xn: Normalized feature locations on the image plane (a 2XN matrix) 

17  % 

18  %Important functions called within that program: 

19  % 

20  %comp_distortion_oulu: undistort pixel coordinates. 

21  

22  if nargin < 5, 

23  alpha_c = 0; 

24  if nargin < 4; 

25  kc = [0;0;0;0;0]; 

26  if nargin < 3; 

27  cc = [0;0]; 

28  if nargin < 2, 

29  fc = [1;1]; 

30  end; 

31  end; 

32  end; 

33  end; 

34  

35  

36  % First: Subtract principal point, and divide by the focal length: 

37  x_distort = [(x_kk(1,:)  cc(1))/fc(1);(x_kk(2,:)  cc(2))/fc(2)]; 

38  

39  % Second: undo skew 

40  x_distort(1,:) = x_distort(1,:)  alpha_c * x_distort(2,:); 

41  

42  if norm(kc) ~= 0, 

43  % Third: Compensate for lens distortion: 

44  xn = comp_distortion_oulu(x_distort,kc); 

45  else 

46  xn = x_distort; 

47  end; 

Note: See
TracBrowser
for help on using the repository browser.