/*
 * 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)$
/*
 * Some mangling for C code generation
 */
x_expand : trigexpand(x)$
y_expand : trigexpand(y)$
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))),";","
")$