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| author | Wind Yuan <feng.yuan@intel.com> | 2017-11-09 13:15:54 +0800 |
|---|---|---|
| committer | windyuan <feng.yuan@intel.com> | 2017-11-09 20:28:20 +0800 |
| commit | d6703decad390380e8f8706c35a04d829e93a571 (patch) | |
| tree | d9ef9ff662f3d2d89a873050717fe898709367ec /xcore/surview_fisheye_dewarp.cpp | |
| parent | 72e7164bfc1e8a159f5fc3a05b29815c1cae3c26 (diff) | |
| download | libxcam-d6703decad390380e8f8706c35a04d829e93a571.tar.gz | |
bowl-data : change radian to angle degree
Signed-off-by: Wind Yuan <feng.yuan@intel.com>
Diffstat (limited to 'xcore/surview_fisheye_dewarp.cpp')
| -rw-r--r-- | xcore/surview_fisheye_dewarp.cpp | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/xcore/surview_fisheye_dewarp.cpp b/xcore/surview_fisheye_dewarp.cpp index 77f5a72..da096cc 100644 --- a/xcore/surview_fisheye_dewarp.cpp +++ b/xcore/surview_fisheye_dewarp.cpp @@ -97,13 +97,13 @@ SurViewFisheyeDewarp::cal_world_coord(uint32_t x, uint32_t y, MapTable &world_co if(y < bowl_config.wall_image_height) { world_z = 1500.0f - y * z_step; - angle = bowl_config.angle_start - x * angle_step; + angle = degree2radian (bowl_config.angle_start - x * angle_step); float r2 = 1 - world_z * world_z / (c * c); - if(angle == PI / 2) { + if(XCAM_DOUBLE_EQUAL_AROUND (angle, PI / 2)) { world_x = 0.0f; world_y = sqrt(r2 * b * b); - } else if (angle == PI * 3 / 2) { + } else if (XCAM_DOUBLE_EQUAL_AROUND (angle, PI * 3 / 2)) { world_x = 0.0f; world_y = -sqrt(r2 * b * b); } else if((angle < PI / 2) || (angle > PI * 3 / 2)) { @@ -125,12 +125,12 @@ SurViewFisheyeDewarp::cal_world_coord(uint32_t x, uint32_t y, MapTable &world_co a = a - (y - bowl_config.wall_image_height) * step_a; b = a * ratio_ab; - angle = bowl_config.angle_start - x * angle_step; + angle = degree2radian (bowl_config.angle_start - x * angle_step); - if(angle == PI / 2) { + if(XCAM_DOUBLE_EQUAL_AROUND (angle, PI / 2)) { world_x = 0.0f; world_y = b; - } else if (angle == PI * 3 / 2) { + } else if (XCAM_DOUBLE_EQUAL_AROUND (angle, PI * 3 / 2)) { world_x = 0.0f; world_y = -b; } else if((angle < PI / 2) || (angle > PI * 3 / 2)) { @@ -150,9 +150,9 @@ SurViewFisheyeDewarp::cal_world_coord(uint32_t x, uint32_t y, MapTable &world_co void SurViewFisheyeDewarp::cal_cam_world_coord(MapTable world_coord, MapTable &cam_world_coord) { - Mat4f rotation_mat = generate_rotation_matrix(_extrinsic_param.roll * PI / 180, - _extrinsic_param.pitch * PI / 180, - _extrinsic_param.yaw * PI / 180); + Mat4f rotation_mat = generate_rotation_matrix( degree2radian (_extrinsic_param.roll), + degree2radian (_extrinsic_param.pitch), + degree2radian (_extrinsic_param.yaw)); Mat4f rotation_tran_mat = rotation_mat; rotation_tran_mat(0, 3) = _extrinsic_param.trans_x; rotation_tran_mat(1, 3) = _extrinsic_param.trans_y; |