Function forward

src/utils/cameraUndistortion.ts:84–92

(p: Vec2, i: CameraIntrinsics)

const perspectiveRadialStrategy: DistortionStrategy = {
  forward(p: Vec2, i: CameraIntrinsics): Vec2 {
    const { x, y } = p;
    const r2 = x * x + y * y;
    const R = _prFactor(r2, i);
    // Tangential terms vanish exactly when p1=p2=0 (SIMPLE_RADIAL, RADIAL).
    const dx = x * R + 2 * i.p1 * x * y + i.p2 * (r2 + 2 * x * x);
    const dy = y * R + i.p1 * (r2 + 2 * y * y) + 2 * i.p2 * x * y;
    return { x: x + dx, y: y + dy };
  },

  inverse(p: Vec2, i: CameraIntrinsics): UndistortResult {
    let x = p.x;