Undistortion

limap.undistortion.undistort.UndistortImageCamera(camera, imname_in, imname_out)

Run COLMAP undistortion on one single image with an input camera. The undistortion is only applied if the camera model is neither “SIMPLE_PINHOLE” nor “PINHOLE”.

Parameters:

  • camera (limap.base.Camera) – The camera (type + parameters) for the image.

  • imname_in (str) – filename for the input image

  • imname_out (str) – filename for the output undistorted image

Returns:

The undistorted camera

Return type:

limap.base.Camera

limap.undistortion.undistort.UndistortPoints(points, distorted_camera, undistorted_camera)

Run COLMAP undistortion on the keypoints.

Parameters:

  • points (list[np.array]) – List of 2D keypoints on the distorted image

  • distorted_camera (limap.base.Camera) – The camera before undistortion

  • undistorted_camera (limap.base.Camera) – The camera after undistortion

Returns:

List of the corresponding 2D keypoints on the undistorted image

Return type:

list[np.array]