Function _glslDivision

src/shaders/undistortion.ts:887–893

(p: Vec2, i: CameraIntrinsics)

// Mirrors distortDivision().
function _glslDivision(p: Vec2, i: CameraIntrinsics): Vec2 {
  const rho2 = p.x * p.x + p.y * p.y;
  const disc2 = 1.0 - 4.0 * rho2 * i.kDiv;
  if (disc2 < 0.0) return { x: p.x, y: p.y }; // disc2 < 0 → GLSL delta = vec2(0) → distorted = p
  const r = 2.0 / (1.0 + Math.sqrt(disc2));
  return { x: p.x * r, y: p.y * r };
}

// Mirrors distortEUCM().
function _glslEUCM(p: Vec2, i: CameraIntrinsics): Vec2 {