Function _prFactor

src/utils/cameraUndistortion.ts:65–71

(r2: number, i: CameraIntrinsics)

//   FULL_OPENCV    all coefficients           →  full rational form + tangential

function _prFactor(r2: number, i: CameraIntrinsics): number {
  const r4 = r2 * r2;
  const r6 = r4 * r2;
  const num = 1 + i.k1 * r2 + i.k2 * r4 + i.k3 * r6;
  const den = 1 + i.k4 * r2 + i.k5 * r4 + i.k6 * r6;
  return num / den - 1;
}

function _prDeriv(r2: number, i: CameraIntrinsics): number {
  const r4 = r2 * r2;