Hi,
The formulae you have given considers only radial distortion with the 'k1' parameter. Here is a script that calculates the pixel shift manually based on the given formulas:
% Given parameters
k1 = 1.0;
pp_x = 640; % Principal point x in pixels
pp_y = 360; % Principal point y in pixels
FL_x = 1600; % Focal length x in pixels
FL_y = 1600; % Focal length y in pixels
% Pixel coordinates in the corner of the image (assuming a certain image size)
x_pix = 134.8; % Delta x in pixels from the principal point
y_pix = 75.8; % Delta y in pixels from the principal point
% Convert pixel coordinates to normalized image coordinates
x = (x_pix - pp_x) / FL_x;
y = (y_pix - pp_y) / FL_y;
% Calculate the radial distance r
r = sqrt(x^2 + y^2);
% Apply radial distortion
x_d = x * (1 + k1 * r^2);
y_d = y * (1 + k1 * r^2);
% Convert distorted coordinates back to pixel coordinates
x_d_pix = x_d * FL_x + pp_x;
y_d_pix = y_d * FL_y + pp_y;
% Calculate pixel shift
delta_x = x_d_pix - x_pix;
delta_y = y_d_pix - y_pix;
% Display the results
fprintf('Manual estimate of pixel shift:\n');
fprintf('Delta x: %.2f pixels\n', delta_x);
fprintf('Delta y: %.2f pixels\n', delta_y);
Hope it helps!
Regards,
Soumnath
