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nulledge/ProjectPointRadial.m

Created March 8, 2018 09:23
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ProjectPointRadial.m
function [Proj D radial tan r2] = ProjectPointRadial(P, R, T, f, c, k, p)
N = size(P,1);
X = R*(P'-T'*ones(1,N));
XX = X(1:2,:)./([1; 1]*X(3,:));
r2 = XX(1,:).^2 + XX(2,:).^2;
radial = 1 + dot(repmat(k',[1 N]), [r2; r2.^2; r2.^3], 1);
tan = p(1)*XX(2,:) + p(2)*XX(1,:);
XXX = XX.*repmat(radial+tan,[2 1]) + [p(2) p(1)]'*r2;
Proj = ones(N,1)*f .* XXX' + ones(N,1)*c;
D = X(3,:);
end
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