matrixfurry.com
The open source OpenXR runtime
d/wmr: Turn commented-out code into if-guarded code.
authored by
Mateo de Mayo
and committed by
Rylie Pavlik
5771ddd4
3f12e379
+5
-4
+5
-4
src/xrt/drivers/wmr/wmr_hmd.c
+5
-4
src/xrt/drivers/wmr/wmr_hmd.c
···
1441
1441
float yp = y / z;
1442
1442
float rp2 = xp * xp + yp * yp;
1443
1443
float cdist = (1 + rp2 * (k1 + rp2 * (k2 + rp2 * k3))) / (1 + rp2 * (k4 + rp2 * (k5 + rp2 * k6)));
1444
-
// If we were using OpenCV's camera model we would do
1445
-
// float deltaX = 2 * p1 * xp * yp + p2 * (rp2 + 2 * xp * xp);
1446
-
// float deltaY = 2 * p2 * xp * yp + p1 * (rp2 + 2 * yp * yp);
1447
-
// But instead we use Azure Kinect model (see comment in wmr_hmd_create_stereo_camera_calib)
1444
+
#if 0 // OpenCV model
1445
+
float deltaX = 2 * p1 * xp * yp + p2 * (rp2 + 2 * xp * xp);
1446
+
float deltaY = 2 * p2 * xp * yp + p1 * (rp2 + 2 * yp * yp);
1447
+
#else // Azure Kinect model (see comment in wmr_hmd_create_stereo_camera_calib)
1448
1448
float deltaX = p1 * xp * yp + p2 * (rp2 + 2 * xp * xp);
1449
1449
float deltaY = p2 * xp * yp + p1 * (rp2 + 2 * yp * yp);
1450
+
#endif
1450
1451
float xpp = xp * cdist + deltaX;
1451
1452
float ypp = yp * cdist + deltaY;
1452
1453
float u = fx * xpp + cx;