(r2: number, i: CameraIntrinsics)
| 71 | } |
| 72 | |
| 73 | function _prDeriv(r2: number, i: CameraIntrinsics): number { |
| 74 | const r4 = r2 * r2; |
| 75 | const r6 = r4 * r2; |
| 76 | const num = 1 + i.k1 * r2 + i.k2 * r4 + i.k3 * r6; |
| 77 | const den = 1 + i.k4 * r2 + i.k5 * r4 + i.k6 * r6; |
| 78 | const numP = i.k1 + 2 * i.k2 * r2 + 3 * i.k3 * r4; |
| 79 | const denP = i.k4 + 2 * i.k5 * r2 + 3 * i.k6 * r4; |
| 80 | return (numP * den - num * denP) / (den * den); |
| 81 | } |
| 82 | |
| 83 | const perspectiveRadialStrategy: DistortionStrategy = { |
| 84 | forward(p: Vec2, i: CameraIntrinsics): Vec2 { |