Do not know how undistort an image

tum-vision / mono_dataset_code

Code for Monocular Visual Odometry Dataset - https://vision.cs.tum.edu/data/datasets/mono-dataset

BSD 3-Clause "New" or "Revised" License

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Do not know how undistort an image #17

Closed SongZRui closed 5 years ago

SongZRui commented 5 years ago

I am sorry I did not get it how to undistort the images using this code. I did not find the distortion coefficients either. So, where can I find it? Like k1, k2, k3, p1 and p2?

NikolausDemmel commented 5 years ago

Undistortion is implemented here: https://github.com/tum-vision/mono_dataset_code/blob/master/src/FOVUndistorter.h

It uses the FOV distortion model and assumes the geometric calibration is given in a camera.txt file.