%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SLAM Summer School 2006, Oxford.% Practical 3. SLAM using Monocular Vision.% Practical exercise.% J.M.M. Montiel, Javier Civera, Andrew J. Davison.% {josemari, jcivera}@unizar.es, ajd@doc.ic.ac.uk%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%function uvd = distort_fm( uv, camera )%% Distort image coordinates.%  The function deals with two models:%  1.- Real-Time 3D SLAM with Wide-Angle Vision, %      Andrew J. Davison, Yolanda Gonzalez Cid and Nobuyuki Kita, IAV 2004.%  2.- Photomodeler full distortion model.% input%    camera -  camera calibration parameters%    uvd    -  distorted image points in pixels% output%    uv     -  undistorted coordinate points%% J.M.M Montiel% September 2005nPoints = size( uv, 2 );uvd = zeros( 2, nPoints );for k = 1:nPoints;    uvd( :, k ) = distor_a_point( uv( :, k ), camera );end