Method Distortion

src/colmap/sensor/models.h:1365–1375

template <typename T>
void SimpleRadialCameraModel::Distortion(
    const T* extra_params, const T& u, const T& v, T* du, T* dv) {
  const T k = extra_params[0];

  const T u2 = u * u;
  const T v2 = v * v;
  const T r2 = u2 + v2;
  const T radial = k * r2;
  *du = u * radial;
  *dv = v * radial;
}

////////////////////////////////////////////////////////////////////////////////
// RadialCameraModel