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Merge pull request #119 from qsisi/master
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fix PinholeFullCamera Undistortion
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xiaokn authored Oct 18, 2023
2 parents 20d0d76 + 51e87a3 commit 826f6fc
Showing 1 changed file with 2 additions and 2 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -596,8 +596,8 @@ PinholeFullCamera::liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P
xd0 = x * cdist * icdist2 + p1 * a1 + p2 * a2;
yd0 = y * cdist * icdist2 + p1 * a3 + p2 * a1;

double x_proj = xd * fx + cx;
double y_proj = yd * fy + cy;
double x_proj = xd0 * fx + cx;
double y_proj = yd0 * fy + cy;

error = sqrt( pow( x_proj - u, 2 ) + pow( y_proj - v, 2 ) );
}
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