public static List < AssociatedPair > convertToNormalizedCoordinates ( List < AssociatedPair > matchedFeatures , CameraPinholeBrown intrinsic ) { Point2Transform2_F64 p_to_n = LensDistortionFactory . narrow ( intrinsic ) . undistort_F64 ( true , false ) ; List < AssociatedPair > calibratedFeatures = new ArrayList <> ( ) ; for ( AssociatedPair p : matchedFeatures ) { AssociatedPair c = new AssociatedPair ( ) ; p_to_n . compute ( p . p1 . x , p . p1 . y , c . p1 ) ; p_to_n . compute ( p . p2 . x , p . p2 . y , c . p2 ) ; calibratedFeatures . add ( c ) ; } return calibratedFeatures ; }
Convert a set of associated point features from pixel coordinates into normalized image coordinates .