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Commit ae245e9a authored by Andrey Filippov's avatar Andrey Filippov
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working on derivatives more

parent 9cd3391f
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src/main/java/LensDistortionParameters.java
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...@@ -1460,13 +1460,13 @@ dPXmmc/dphi= ...@@ -1460,13 +1460,13 @@ dPXmmc/dphi=
// 2*(r_xyod[i][3]*y - r_xyod[i][2]*x)/rr_pow_i_minus_1; // 2*(r_xyod[i][3]*y - r_xyod[i][2]*x)/rr_pow_i_minus_1;
double dki_dx= x*(ai_iplus1_rr_pow_i_minus_1 + double dki_dx= x*(ai_iplus1_rr_pow_i_minus_1 +
ki1_r_pow_im2_mul_i + ki2_r_pow_im3_mul_im1)+ // r_xyod[i][0]*rr_pow_i_minus_1 + ki1_r_pow_im2_mul_i + ki2_r_pow_im3_mul_im1)+ // r_xyod[i][0]*rr_pow_i_minus_1 +
r_xyod[i][0]*rr_pow_i + 2*(r_xyod[i][3]*y - r_xyod[i][2]*x)/rr_pow_i_minus_1; r_xyod[i][0]*rr_pow_i + 2*(r_xyod[i][3]*y - r_xyod[i][2]*x)*rr_pow_i_minus_1;
// double dki_dy= y*(ai_iplus1_rr_pow_i_minus_1 + // double dki_dy= y*(ai_iplus1_rr_pow_i_minus_1 +
// r_xyod[i][1]*rr_pow_i_minus_1 + ki1_div_r_mul_i + ki2_div_r3_mul_im1)+ // r_xyod[i][1]*rr_pow_i_minus_1 + ki1_div_r_mul_i + ki2_div_r3_mul_im1)+
// 2*(r_xyod[i][3]*x + r_xyod[i][2]*y)/rr_pow_i_minus_1; // 2*(r_xyod[i][3]*x + r_xyod[i][2]*y)/rr_pow_i_minus_1;
double dki_dy= y*(ai_iplus1_rr_pow_i_minus_1 + double dki_dy= y*(ai_iplus1_rr_pow_i_minus_1 +
ki1_r_pow_im2_mul_i + ki2_r_pow_im3_mul_im1)+ // r_xyod[i][1]*rr_pow_i_minus_1 + ki1_r_pow_im2_mul_i + ki2_r_pow_im3_mul_im1)+ // r_xyod[i][1]*rr_pow_i_minus_1 +
r_xyod[i][1]*rr_pow_i + 2*(r_xyod[i][3]*x + r_xyod[i][2]*y)/rr_pow_i_minus_1; r_xyod[i][1]*rr_pow_i + 2*(r_xyod[i][3]*x + r_xyod[i][2]*y)*rr_pow_i_minus_1;
// double ai_iplus1_rr_pow_i= a[i]*(i+1)*rr_pow_i; // double ai_iplus1_rr_pow_i= a[i]*(i+1)*rr_pow_i;
// double dki_dxmmc= ai_iplus1_rr_pow_i*(x*(1.0-r_xyod[i][2])+y*r_xyod[i][3])/rr; // double dki_dxmmc= ai_iplus1_rr_pow_i*(x*(1.0-r_xyod[i][2])+y*r_xyod[i][3])/rr;
// double dki_dymmc= ai_iplus1_rr_pow_i*(y*(1.0+r_xyod[i][2])+x*r_xyod[i][3])/rr; // double dki_dymmc= ai_iplus1_rr_pow_i*(y*(1.0+r_xyod[i][2])+x*r_xyod[i][3])/rr;
......
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