\r
.. math:: \r
\r
- x_{corrected} = x( 1 + k_1 r^2 + k_2 r^4 + k^3 r^6 \\\r
- y_{corrected} = y( 1 + k_1 r^2 + k_2 r^4 + k^3 r^6\r
+ x_{corrected} = x( 1 + k_1 r^2 + k_2 r^4 + k^3 r^6) \\\r
+ y_{corrected} = y( 1 + k_1 r^2 + k_2 r^4 + k^3 r^6)\r
\r
So for an old pixel point at :math:`(x,y)` coordinate in the input image, for a corrected output image its position will be :math:`(x_{corrected} y_{corrected})` . The presence of the radial distortion manifests in form of the "barrel" or "fish-eye" effect. \r
\r
\r
.. math:: \r
\r
- x_{corrected} = x + [ 2p_1y + p_2(r^2+2x^2)] \\\r
- y_{corrected} = y + [ 2p_1(r^2+ 2y^2)+ 2p_2x]\r
+ x_{corrected} = x + [ 2p_1xy + p_2(r^2+2x^2)] \\\r
+ y_{corrected} = y + [ p_1(r^2+ 2y^2)+ 2p_2xy]\r
\r
So we have five distortion parameters, which in OpenCV are organized in a 5 column one row matrix: \r
\r