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;


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