IMAGE WARPING

The image points are converted by a pair of functions $f_u(u,v),f_v(u,v)$ into a new image

$$\{\begin{array}{l}{u}^{{}^{\prime }}=f_u(u,v)\\ v^{{}^{\prime }}=f_v(u,v)\end{array}$$

It’s also possible to invert warping

$$\{\begin{array}{l}u=g_u(u^{{}^{\prime }},v^{{}^{\prime }})\\ v=g_v(u^{{}^{\prime }},v^{{}^{\prime }})\end{array}\forall (u^{{}^{\prime }},v^{{}^{\prime }}):I^{{}^{\prime }}(u^{{}^{\prime }},v^{{}^{\prime }})=I(g_u(u^{{}^{\prime }},v^{{}^{\prime }}),g_v(u^{{}^{\prime }},v^{{}^{\prime }}))$$

WARPING TO COMPENSATE LENS DISTORTION

once the lens distortion parameter are computed by camera calibration it’s possible to get back the un-distorted points by a backward warp

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