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Possible error in camera distortion function #258

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Denis-port opened this issue Aug 23, 2024 · 0 comments
Open

Possible error in camera distortion function #258

Denis-port opened this issue Aug 23, 2024 · 0 comments

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@Denis-port
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Denis-port commented Aug 23, 2024 •
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There is a Kannala-Brandt camera distortion realization in /farm-ng-core/cpp/sophus/sensor/kannala_brandt.h file. Is it an error in function undistort(), line 119?

TScalar th = sqrt(rth);

May be the correct formula has to be:

TScalar th = atan(rth); ?
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