diff options
| -rw-r--r-- | src/Makefile.lsq_funcs | 2 | ||||
| -rw-r--r-- | src/lsq_funcs.max | 28 |
2 files changed, 23 insertions, 7 deletions
diff --git a/src/Makefile.lsq_funcs b/src/Makefile.lsq_funcs index 769d2b3..bbac7f7 100644 --- a/src/Makefile.lsq_funcs +++ b/src/Makefile.lsq_funcs @@ -1,4 +1,4 @@ all: lsq_funcs.c lsq_funcs.c: lsq_funcs.max - maxima -b lsq_funcs.max > lsq_funcs.c + maxima -b lsq_funcs.max | grep "^mac_" > lsq_funcs.c diff --git a/src/lsq_funcs.max b/src/lsq_funcs.max index 8875a4e..671aae2 100644 --- a/src/lsq_funcs.max +++ b/src/lsq_funcs.max @@ -1,12 +1,28 @@ -x_undist_unrot : TAN(m_view - c_view) * scale$ -y_undist_unrot : TAN(m_nick - c_nick) * scale$ +/* + * This is the basic pinhole projection model with distortion correction + */ +x_undist_unrot : tan(m_view - c_view) * scale$ +y_undist_unrot : tan(m_nick - c_nick) * scale$ d : y_undist_unrot ^ 2 + x_undist_unrot ^ 2$ dist_fact : d ^2 * k1 + d * k0$ x_unrot : x_undist_unrot * dist_fact$ y_unrot : y_undist_unrot * dist_fact$ -x : y_unrot * SIN(c_tilt) + x_unrot * COS(c_tilt)$ -y : y_unrot * COS(c_tilt) - x_unrot * SIN(c_tilt)$ +x : y_unrot * sin(c_tilt) + x_unrot * cos(c_tilt)$ +y : y_unrot * cos(c_tilt) - x_unrot * sin(c_tilt)$ +/* + * Some mangling for C code generation + */ x_expand : trigexpand(x)$ y_expand : trigexpand(y)$ -SPRINT("out_x = ", STRING(DIFF(x_expand, TAN(c_view))))$ - +sprint("mac_x = ", string(subst(pow, "^", x_expand)))$ +sprint("mac_y = ", string(subst(pow, "^",y_expand)))$ +sprint("mac_x_dc_view = ", string(subst(pow, "^",diff(x_expand, c_view))))$ +sprint("mac_x_dc_nick = ", string(subst(pow, "^",diff(x_expand, c_nick))))$ +sprint("mac_x_dscale = ", string(subst(pow, "^",diff(x_expand, scale))))$ +sprint("mac_x_dk0 = ", string(subst(pow, "^",diff(x_expand, k0))))$ +sprint("mac_x_dk1 = ", string(subst(pow, "^",diff(x_expand, k1))))$ +sprint("mac_y_dc_view = ", string(subst(pow, "^",diff(y_expand, c_view))))$ +sprint("mac_y_dc_nick = ", string(subst(pow, "^",diff(y_expand, c_nick))))$ +sprint("mac_y_dscale = ", string(subst(pow, "^",diff(y_expand, scale))))$ +sprint("mac_y_dk0 = ", string(subst(pow, "^",diff(y_expand, k0))))$ +sprint("mac_y_dk1 = ", string(subst(pow, "^",diff(y_expand, k1))))$ |