function p=imcorr(name,par,dp)%IMCORR corrects image coordinates, which are contaminated by radial%and tangential distortion.%%Usage:%   p=imcorr(name,par2,dp)%%where%   name = string that is specific to the camera and the framegrabber.%          This string must be defined in configc.m%   par2 = camera intrinsic parameters for correcting the coordinates.%          these parameters are computed by using invmodel.m.%   dp   = distorted image coordinates in pixels (n x 2 matrix)%   p    = corrected image coordinates %   Version 3.0  10-17-00%   Janne Heikkila, University of Oulu, Finlandsys=configc(name);NDX=sys(1); NDY=sys(2); Sx=sys(3); Sy=sys(4);Asp=par(1); Foc=par(2);Cpx=par(3); Cpy=par(4);Rad1=par(5); Rad2=par(6);Tan1=par(7); Tan2=par(8);dx=(dp(:,1)-Cpx)*Sx/NDX/Asp;dy=(dp(:,2)-Cpy)*Sy/NDY;r2=dx.*dx+dy.*dy;delta=Rad1*r2+Rad2*r2.*r2;cx=dx.*(1+delta)+2*Tan1*dx.*dy+Tan2*(r2+2*dx.*dx); cy=dy.*(1+delta)+Tan1*(r2+2*dy.*dy)+2*Tan2*dx.*dy; p=NDX*Asp*cx/Sx+Cpx;p(:,2)=NDY*cy/Sy+Cpy;