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.