Camera lens distortion in OpenGL
问题 I'm trying to simulate lens distortion effect for my SLAM project. A scanned color 3D point cloud is already given and loaded in OpenGL. What I'm trying to do is render 2D scene at a given pose and do some visual odometry between the real image from a fisheye camera and the rendered image. As the camera has severe lens distortion, it should be considered in the rendering stage too. The problem is that I have no idea where to put the lens distortion. Shaders? I've found some open codes that