Function mola::vision::undistortPoints

Function Documentation

void mola::vision::undistortPoints(const std::vector<mrpt::math::TPoint2Df> &pixels, const mrpt::img::TCamera &camera, std::vector<mrpt::math::TPoint2Df> &undistorted)

Batch undistort + unproject: pixel → normalized (metric) image coordinates.

Wraps MRPT’s per-point mrpt::img::undistort_point() for a batch of features, supporting pinhole (radial-tangential / plumb_bob) and Kannala-Brandt (fisheye) distortion models as encoded in TCamera.

Output: undistorted[i] = normalized plane coordinate (z=1), i.e. undistorted[i] = K⁻¹ · undistort(pixel[i]) where undistort removes distortion and K⁻¹ de-projects to the unit plane.