Function _glslFOV

src/shaders/undistortion.ts:829–835

(p: Vec2, i: CameraIntrinsics)

// Mirrors distortFOV().
function _glslFOV(p: Vec2, i: CameraIntrinsics): Vec2 {
  const r = Math.hypot(p.x, p.y);
  if (r < 0.00001 || Math.abs(i.omega) < 0.00001) return { x: p.x, y: p.y };
  const rd = Math.atan(r * 2.0 * Math.tan(i.omega / 2.0)) / i.omega;
  const factor = rd / r - 1.0;
  return { x: p.x + p.x * factor, y: p.y + p.y * factor };
}

// Mirrors distortThinPrismFisheye() — covers all fisheye-class sub-models.
function _glslThinPrismFisheye(p: Vec2, i: CameraIntrinsics): Vec2 {