Emgu.CV.CvInvoke.cvUndistortPoints C# (CSharp) Method

        public static extern void cvUndistortPoints(
         IntPtr src,
         IntPtr dst,
         IntPtr camera_matrix,
         IntPtr dist_coeffs,
         IntPtr R,
         IntPtr P);

        /// <summary>
        /// Similar to cvInitUndistortRectifyMap and is opposite to it at the same time.
        /// The functions are similar in that they both are used to correct lens distortion and to perform the optional perspective (rectification) transformation.
        /// They are opposite because the function cvInitUndistortRectifyMap does actually perform the reverse transformation in order to initialize the maps properly, while this function does the forward transformation.
        /// </summary>
        /// <param name="src">The observed point coordinates</param>
        /// <param name="R">Optional rectification transformation in object space (3x3 matrix). R1 or R2, computed by cvStereoRectify can be passed here. If null, the identity matrix is used.</param>
        /// <param name="P">Optional new camera matrix (3x3) or the new projection matrix (3x4). P1 or P2, computed by cvStereoRectify can be passed here. If null, the identity matrix is used.</param>
        public PointF[] Undistort(PointF[] src, Matrix <double> R, Matrix <double> P)
        {
            PointF[] dst       = new PointF[src.Length];
            GCHandle srcHandle = GCHandle.Alloc(src, GCHandleType.Pinned);
            GCHandle dstHandle = GCHandle.Alloc(dst, GCHandleType.Pinned);

            using (Matrix <float> srcPointMatrix = new Matrix <float>(src.Length, 1, 2, srcHandle.AddrOfPinnedObject(), 2 * sizeof(float)))
                using (Matrix <float> dstPointMatrix = new Matrix <float>(dst.Length, 1, 2, dstHandle.AddrOfPinnedObject(), 2 * sizeof(float)))
                {
                    CvInvoke.cvUndistortPoints(
                        srcPointMatrix, dstPointMatrix,
                        _intrinsicMatrix.Ptr,
                        _distortionCoeffs.Ptr,
                        R,
                        P);
                }
            srcHandle.Free();
            dstHandle.Free();
            return(dst);
        }