カメラ座標
$$ P_c = \left( \begin{array}{c} X_c \ Y_c \ Z_c \end{array} \right) $$
$$ x’ = X_c / Z_c \ y’ = Y_c / Z_c \ r^2 = x’^2 + y’^2 $$
歪み補正 / Distortion correction
$$ x’’ = x’ \frac{ 1 + k_1\ r^2 + k_2\ r^4 + k_3\ r^6 }{ 1 + k_4\ r^2 + k_5\ r^4 + k_6\ r^6 } + 2 p_1 x’ y’ + p_2 (r^2 + 2 x’^2) + s_1 r^2 + s_2 r^4 \ y’’ = y’ \frac{ 1 + k_1\ r^2 + k_2\ r^4 + k_3\ r^6 }{ 1 + k_4\ r^2 + k_5\ r^4 + k_6\ r^6 } + p_1 (r^2 + 2 y’^2) + 2 p_2 x’ y’ + s_1 r^2 + s_2 r^4 $$
カメラ座標変換
$$ \left( \begin{array}{c} u \ v \end{array} \right) =
\left( \begin{array}{ccc} f_x & 0 & c_x \ 0 & f_y & c_y \ \end{array} \right)
\left( \begin{array}{c} x’’ \ y’’ \ 1 \end{array} \right) $$