virtual Vec2 remove_disto(const Vec2 & p) const {
const double epsilon = 1e-8; //criteria to stop the iteration
Vec2 p_u = p;
while((add_disto(p_u)-p).lpNorm<1>() > epsilon)//manhattan distance between the two points
{
p_u = p - distoFunction(_params, p_u);
}
return p_u;
}
/// Return the distorted pixel (with added distortion)
virtual Vec2 get_d_pixel(const Vec2& p) const
{
return cam2ima( add_disto(ima2cam(p)) );
}
