gistfile1.txt

/****************************************************************************
 *
 *   Copyright (c) 2018 Mohammed Kabir. All rights reserved.
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 // Pseudocode for camera projection

 // bearing angles in camera frame
 angle_x = atan2((undistorted_center.x - cx_K), fx_K);
 angle_y = atan2((undistorted_center.y - cy_K), fy_K);
 
 // distances in camera frame (X rightwards, Y downwards, Z outwards along optical axis)
 // s = r * theta (using small angle approximation)
 dist_x = world_dist_to_point * angle_x 
 dist_y = world_dist_to_point * angle_y