void CameraIntrinsics::ImageToDirection(double u_distorted, double v_distorted,
double *u_normalized,
double *v_normalized) const {
CHECK_NOTNULL(u_normalized);
CHECK_NOTNULL(v_normalized);
// Make a homogeneous image space point.
Vector3d p_distorted;
p_distorted << u_distorted, v_distorted, 1.0;
// Multiply the distorted homogeneous image space point by the inverse
// of the camera intrinsic matrix to get a distorted ray.
const Vector3d p = CameraIntrinsics::Kinv() * p_distorted;
// Undistort the ray to get the normalized direction vector.
Undistort(p(0), p(1), u_normalized, v_normalized);
}
bool CvCalibFilter::Undistort( IplImage** srcarr, IplImage** dstarr )
{
return Undistort( (CvMat**)srcarr, (CvMat**)dstarr );
}