1  %=======================================================================


2  % Copyright 20082014, LEGI UMR 5519 / CNRS UJF GINP, Grenoble, France


3  % http://www.legi.grenobleinp.fr


4  % Joel.Sommeria  Joel.Sommeria (A) legi.cnrs.fr


5  %


6  % This file is part of the toolbox UVMAT.


7  %


8  % UVMAT is free software; you can redistribute it and/or modify


9  % it under the terms of the GNU General Public License as published


10  % by the Free Software Foundation; either version 2 of the license,


11  % or (at your option) any later version.


12  %


13  % UVMAT is distributed in the hope that it will be useful,


14  % but WITHOUT ANY WARRANTY; without even the implied warranty of


15  % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the


16  % GNU General Public License (see LICENSE.txt) for more details.


17  %=======================================================================


18 


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


20 


21  %normalize


22  %


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


24  %


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


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


27  %


28  %INPUT: x_kk: Feature locations on the images


29  % fc: Camera focal length


30  % cc: Principal point coordinates


31  % kc: Distortion coefficients


32  % alpha_c: Skew coefficient


33  %


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


35  %


36  %Important functions called within that program:


37  %


38  %comp_distortion_oulu: undistort pixel coordinates.


39 


40  if nargin < 5,


41  alpha_c = 0;


42  if nargin < 4;


43  kc = [0;0;0;0;0];


44  if nargin < 3;


45  cc = [0;0];


46  if nargin < 2,


47  fc = [1;1];


48  end;


49  end;


50  end;


51  end;


52 


53 


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


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


56 


57  % Second: undo skew


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


59 


60  if norm(kc) ~= 0,


61  % Third: Compensate for lens distortion:


62  xn = comp_distortion_oulu(x_distort,kc);


63  else


64  xn = x_distort;


65  end;

