Function _glslFullOpenCV

src/shaders/undistortion.ts:815–826

(p: Vec2, i: CameraIntrinsics)

// Mirrors distortFullOpenCV() — covers all perspective-radial sub-models.
function _glslFullOpenCV(p: Vec2, i: CameraIntrinsics): Vec2 {
  const x = p.x, y = p.y;
  const r2 = x * x + y * y;
  const r4 = r2 * r2;
  const r6 = r4 * r2;
  const num   = 1.0 + i.k1 * r2 + i.k2 * r4 + i.k3 * r6;
  const denom = 1.0 + i.k4 * r2 + i.k5 * r4 + i.k6 * r6;
  const radial = num / denom - 1.0;
  const dx = 2.0 * i.p1 * x * y + i.p2 * (r2 + 2.0 * x * x);
  const dy = i.p1 * (r2 + 2.0 * y * y) + 2.0 * i.p2 * x * y;
  return { x: x + x * radial + dx, y: y + y * radial + dy };
}

// Mirrors distortFOV().
function _glslFOV(p: Vec2, i: CameraIntrinsics): Vec2 {