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/*
* 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 : y_undist_unrot ^ 2 + x_undist_unrot ^ 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))$
/*
* Some mangling for C code generation
*/
x_expand : trigexpand(x)$
y_expand : trigexpand(y)$
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)), ";}", "
")$
printfunc("mac_x", x_expand);
printfunc("mac_y", y_expand);
printfunc("mac_x_dc_view", diff(x_expand, c_view));
printfunc("mac_x_dc_nick", diff(x_expand, c_nick));
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_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));
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