CPC G06T 7/80 (2017.01) [G06T 7/50 (2017.01); G06T 2207/10028 (2013.01)] | 19 Claims |
1. An apparatus, comprising:
at least one processor; and
at least one non-transitory memory storing instructions that, when executed with the at least one processor, cause the apparatus to perform:
capturing an image of a calibration pattern comprising features defining object points;
determining, from the image, measured image points that correspond to the object points;
determining, from the mapping, putative image points that correspond to the object points; and
minimizing a cumulative cost function dependent upon differences between the measured image points and putative image points to determine parameters of the parametric mapping;
wherein the mapping uses a parametric function to specify points where light rays travelling from object points to image points cross an optical axis;
wherein the parametric function is a non-linear function of an angle the light ray travelling from an object point towards an image point makes with the optical axis as it crosses the optical axis.
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