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To undistort your image, what is probably done:

  • iterate over pixels in the destination image
  • for (x,y) in the destination image, compute the distorted pixel coordinate (x',y')
  • interpolate the pixel intensity at (x',y')
  • assign at (x,y) the interpolated pixel intensity at (x',y')

To undistort the pixel coordinate, this is another formula. Something like iteratively undistort the pixel coordinate. Remember that the distortion function is non-linear.