diff options
Diffstat (limited to 'src/lsq_funcs.mac')
| -rw-r--r-- | src/lsq_funcs.mac | 24 |
1 files changed, 10 insertions, 14 deletions
diff --git a/src/lsq_funcs.mac b/src/lsq_funcs.mac index 3a2cb33..de71198 100644 --- a/src/lsq_funcs.mac +++ b/src/lsq_funcs.mac @@ -2,23 +2,23 @@ * This is the basic pinhole projection model with distortion correction */ -x_undist_unrot : tan(m_view - c_view); -y_undist_unrot : tan(c_nick - m_nick); -d : (u0 - x_undist_unrot) ^ 2 + (v0 - y_undist_unrot) ^ 2; +x : tan(m_view - c_view); +y : tan(c_nick - m_nick); +x_rot : y * sin(c_tilt) + x * cos(c_tilt); +y_rot : y * cos(c_tilt) - x * sin(c_tilt); +d : x_rot ^ 2 + y_rot ^ 2; dist_fact : d ^ 2 * k1 + d * k0; -x_unrot : x_undist_unrot * (1 + dist_fact); -y_unrot : y_undist_unrot * (1 + dist_fact); -x : scale * (y_unrot * sin(c_tilt) + x_unrot * cos(c_tilt)); -y : scale * (y_unrot * cos(c_tilt) - x_unrot * sin(c_tilt)); +x_dist : x_rot * (1 + dist_fact) * scale; +y_dist : y_rot * (1 + dist_fact) * scale; /* * Some mangling for C code generation */ -x_expand : trigexpand(x); -y_expand : trigexpand(y); +x_expand : trigexpand(x_dist); +y_expand : trigexpand(y_dist); -args: "(double c_view, double c_nick, double c_tilt, double scale, double k0, double k1, double u0, double v0, double m_view, double m_nick)"; +args: "(double c_view, double c_nick, double c_tilt, double scale, double k0, double k1, double m_view, double m_nick)"; printfunc(name, expression) := sprint("static double", name, args, "{ return ", string(subst(pow, "^", expression)), ";}", " "); @@ -32,13 +32,9 @@ printfunc("mac_x_dc_tilt", diff(x_expand, c_tilt)); printfunc("mac_x_dscale", diff(x_expand, scale)); printfunc("mac_x_dk0", diff(x_expand, k0)); printfunc("mac_x_dk1", diff(x_expand, k1)); -printfunc("mac_x_du0", diff(x_expand, u0)); -printfunc("mac_x_dv0", diff(x_expand, v0)); printfunc("mac_y_dc_view", diff(y_expand, c_view)); printfunc("mac_y_dc_nick", diff(y_expand, c_nick)); printfunc("mac_y_dc_tilt", diff(y_expand, c_tilt)); printfunc("mac_y_dscale", diff(y_expand, scale)); printfunc("mac_y_dk0", diff(y_expand, k0)); printfunc("mac_y_dk1", diff(y_expand, k1)); -printfunc("mac_y_du0", diff(x_expand, u0)); -printfunc("mac_y_dv0", diff(x_expand, v0)); |