Method distort

src/registration.cpp:73–85

};

void RegistrationImpl::distort(int mx, int my, float& x, float& y) const
{
  // see http://en.wikipedia.org/wiki/Distortion_(optics) for description
  float dx = ((float)mx - depth.cx) / depth.fx;
  float dy = ((float)my - depth.cy) / depth.fy;
  float dx2 = dx * dx;
  float dy2 = dy * dy;
  float r2 = dx2 + dy2;
  float dxdy2 = 2 * dx * dy;
  float kr = 1 + ((depth.k3 * r2 + depth.k2) * r2 + depth.k1) * r2;
  x = depth.fx * (dx * kr + depth.p2 * (r2 + 2 * dx2) + depth.p1 * dxdy2) + depth.cx;
  y = depth.fy * (dy * kr + depth.p1 * (r2 + 2 * dy2) + depth.p2 * dxdy2) + depth.cy;
}

void RegistrationImpl::depth_to_color(float mx, float my, float& rx, float& ry) const
{