Thomas Schöps

The `--num_pyramid_levels` parameter is only intended for the generic camera models, because those are supposed to be optimized in a multi-resolution scheme in which their grid resolution is gradually increased....

Hi, the library I personally use for that is [OpenGV](https://github.com/laurentkneip/opengv) (see the "absolute pose problems" in [how to use](http://laurentkneip.github.io/opengv/page_how_to_use.html)). It works on observation directions / lines instead of detected pixel...

Thank you very much for the PR. I will have a look at it when I have time.

Generally speaking, since I finished my PhD work roughly two years ago, I currently have no plans for this project aside from doing minimal maintenance (in my spare time). The...

Hi, I am not sure whether I understand your questions correctly. * If an image gets resized from the original (calibrated) size, and the calibration for a pixel position in...

Yes, as long as the *central* generic model is used, the algorithm that I tried to describe with pseudo-code should achieve exactly this. If the *non-central* generic model is used,...

Notice that the successive Un-projection and Projection operations in the undistortion algorithm given above operate with different camera models. If you use the same model for both, of course the...

> I am not sure what "this pinhole calibration" refers to, is it the undistorted image? Yes, it is the pinhole model that was chosen for the undistorted image. >...

The undistorted image is supposed to not have any distortion. This is why the "pinhole model" chosen for the undistorted image should have no distortion coefficients. It will only have...

> Could you explain how the direction makes sense? This direction makes sense because it only depends on the **arbitrarily chosen (!)** pinhole intrinsics of the desired undistorted image. It...