CameraCalibrationModel:

Path: Imaging/Calibration

% Computes points in the camera coordinates.
 If k1 and k2 are unrealistically large it will not converge.

--------------------------------------------------------------------------
   Form:
   pD = CameraCalibrationModel( d, pW )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   d       (1,1)    Data structure
                    .o    (2,1) [x,y] origin
                    .s    (2,1) [x,y] pixel dimensions
                    .f    (1,1) Focal length
                    .k1   (1,1) Radial error r^2 coeff
                    .k2   (1,1) Radial error r^4 coeff
                    .R    (3,3) Rotation matrix
                    .T    (3,1) Offset
   pW      (3,:)    World coordinates

   -------
   Outputs
   -------
   pD      (2,:)    Distorted coordinates (units of pW)

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   Reference: Trucco, E., Verri, A., "Introductory Techniques for 3-D
              Computer Vision," Prentice-Hall, 1998, Chapter 6.
--------------------------------------------------------------------------

Children:

Common: CommonData/SwooshWatermark
Common: ComponentModels/Box
Common: General/DeBlankLT
Common: General/Watermark
Common: Graphics/DrawVertices
Common: Graphics/NewFig
Common: Graphics/PltStyle
Common: Graphics/XLabelS
Common: Graphics/YLabelS
Common: Graphics/ZLabelS
Common: Quaternion/Q2Mat
Common: Quaternion/QTForm
Common: Quaternion/U2Q
Imaging: Calibration/CalibrationCube
Math: Geometry/Perpendicular
Math: Linear/Cross
Math: Linear/Dot
Math: Linear/DupVect
Math: Linear/Mag
Math: Linear/Unit

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