undistortion.h

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/*
 * Copyright (C) Guido de Croon, 2018
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * Paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef UNDISTORTION_H
#define UNDISTORTION_H

#include "std.h"

// TODO: add other distortion models than just the Dhane one:
bool Dhane_distortion(float x_n, float y_n, float* x_nd, float* y_nd, float k);
bool Dhane_undistortion(float x_nd, float y_nd, float* x_n, float* y_n, float k);

void normalized_to_pixels(float x_n_, float y_n_, float* x_p, float* y_p, const float* K);
void pixels_to_normalized(float x_p, float y_p, float* x_n_, float* y_n_, const float* K);

bool distorted_pixels_to_normalized_coords(float x_pd, float y_pd, float* x_n, float* y_n, float k, const float* K);
bool normalized_coords_to_distorted_pixels(float x_n, float y_n, float *x_pd, float *y_pd, float k, const float* K);


#endif /* UNDISTORTION_H */