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1 | % undoradial remove radial distortion
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2 | %
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3 | % [xl] = undoradial(x,K,kc)
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4 | %
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5 | % x ... 3xN coordinates of the distorted pixel points
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6 | % K ... 3x3 camera calibration matrix
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7 | % kc ... 4x1 vector of distortion parameters
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8 | %
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9 | % xl ... linearized pixel coordinates
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10 | % these coordinates should obey the linear pinhole model
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11 | %
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12 | % It calls comp_distortion_oulu: undistort pixel coordinates.
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13 | % function taken from the CalTech camera calibration toolbox
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14 |
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15 | function [xl] = undoradial(x_kk,K,kc)
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16 |
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17 | cc(1) = K(1,3);
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18 | cc(2) = K(2,3);
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19 | fc(1) = K(1,1);
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20 | fc(2) = K(2,2);
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21 |
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22 | % First: Subtract principal point, and divide by the focal length:
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23 | x_distort = [(x_kk(1,:) - cc(1))/fc(1);(x_kk(2,:) - cc(2))/fc(2)];
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24 |
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25 | if norm(kc) ~= 0,
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26 | % Third: Compensate for lens distortion:
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27 | xn = comp_distortion_oulu(x_distort,kc);
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28 | else
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29 | xn = x_distort;
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30 | end;
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31 |
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32 | % back to the linear pixel coordinates
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33 | xl = K*[xn;ones(size(xn(1,:)))];
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