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Renormalize after rotation #52

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merged 2 commits into from
Apr 29, 2019
Merged

Renormalize after rotation #52

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5c764ae
src/undistorter.cpp
ZacharyTaylor Mar 31, 2019
41a9325
undo launchfile changes
ZacharyTaylor Mar 31, 2019
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1 change: 1 addition & 0 deletions src/undistorter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,7 @@ void Undistorter::distortPixel(const Eigen::Matrix<double, 3, 3>& K_in,
// Transform image coordinates to be size and focus independent
Eigen::Vector3d norm_pixel_location =
R_in * P_out.topLeftCorner<3, 3>().inverse() * pixel_location_3;
norm_pixel_location /= norm_pixel_location.z();

const double& x = norm_pixel_location.x();
const double& y = norm_pixel_location.y();
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