As i understood, image undistortion calculation using .XMP camera format described there: https://support.capturingreality.com/hc/en-us/articles/360017783459-RealityCapture-XMP-Camera-Math
But i don't get, how do you convert homogeneous coordinates to pixel, so that there are no black areas in the image (for inner boundary).
I have tried to use the formula:
scale = max( image width, image height ),
px = scale*m + image width / 2,
py = scale*m + image height / 2
But as a result, image has a large encircling black area.
What image transformations are used when converting to pixel coordinates?
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