Function mrpt::img::camera_geometry::undistort_points(const std::vector<mrpt::img::TPixelCoordf>&, std::vector<mrpt::img::TPixelCoordf>&, const mrpt::img::TCamera&)

Function Documentation

void mrpt::img::camera_geometry::undistort_points(const std::vector<mrpt::img::TPixelCoordf> &distortedPixels, std::vector<mrpt::img::TPixelCoordf> &undistortedPixels, const mrpt::img::TCamera &cameraParams)

Remove lens distortion from pixel coordinates (batch version).

Converts distorted pixel coordinates to undistorted pixel coordinates using iterative refinement. The output pixels can be used with the undistorted camera model (distortion=none).

See also

undistort_point, undistort_points_to_unit_plane

Parameters:

  • distortedPixels – [IN] Distorted pixel coordinates as captured by camera

  • undistortedPixels – [OUT] Undistorted pixel coordinates (resized automatically)

  • cameraParams – [IN] Complete camera model including distortion parameters