def undistort_division(u_tilde, v_tilde, kappa):
    """
    From the HALCON Docs:

    The division model uses one parameter () to model the radial distortions.

    The following equations transform the distorted image plane coordinates into undistorted image plane coordinates if the division model is used. 
    
    u_tilde and v_tilde are in camera coordinates, usually in meters, at a distance of one focal length
    from the center of projection.
    """
    r_tilde_squared = u_tilde**2 + v_tilde**2
    scaling = 1.0 / (1.0 + kappa * r_tilde_squared)
    u = scaling * u_tilde
    v = scaling * v_tilde
    return u, v