diff options
Diffstat (limited to 'xcore/xcam_utils.cpp')
| -rw-r--r-- | xcore/xcam_utils.cpp | 52 |
1 files changed, 25 insertions, 27 deletions
diff --git a/xcore/xcam_utils.cpp b/xcore/xcam_utils.cpp index 4393961..246be93 100644 --- a/xcore/xcam_utils.cpp +++ b/xcore/xcam_utils.cpp @@ -32,11 +32,11 @@ transform_bowl_coord_to_image_x ( const float bowl_x, const float bowl_y, const uint32_t img_width) { - float offset_radian = (bowl_x < 0.0f) ? PI : ((bowl_y >= 0.0f) ? 2.0f * PI : 0.0f); - float arctan_radian = (bowl_x != 0.0f) ? atan (-bowl_y / bowl_x) : ((bowl_y >= 0.0f) ? -PI / 2.0f : PI / 2.0f); + float offset_radian = (bowl_x < 0.0f) ? XCAM_PI : ((bowl_y >= 0.0f) ? 2.0f * XCAM_PI : 0.0f); + float arctan_radian = (bowl_x != 0.0f) ? atan (-bowl_y / bowl_x) : ((bowl_y >= 0.0f) ? -XCAM_PI / 2.0f : XCAM_PI / 2.0f); float img_x = arctan_radian + offset_radian; - img_x *= img_width / (2.0f * PI); + img_x *= img_width / (2.0f * XCAM_PI); return XCAM_CLAMP (img_x, 0.0f, img_width - 1.0f); } @@ -95,10 +95,10 @@ PointFloat3 bowl_view_image_to_world ( float b = config.b; float c = config.c; - float wall_image_height = config.wall_height / (float)(config.wall_height + config.ground_length) * (float)img_height; - float ground_image_height = (float)img_height - wall_image_height; + float wall_image_height = config.wall_height / (config.wall_height + config.ground_length) * img_height; + float ground_image_height = img_height - wall_image_height; - float z_step = (float)config.wall_height / wall_image_height; + float z_step = config.wall_height / wall_image_height; float angle_step = fabs(config.angle_end - config.angle_start) / img_width; if(img_pos.y < wall_image_height) { @@ -106,13 +106,13 @@ PointFloat3 bowl_view_image_to_world ( angle = degree2radian (config.angle_start + img_pos.x * angle_step); float r2 = 1 - (world.z - config.center_z) * (world.z - config.center_z) / (c * c); - if(XCAM_DOUBLE_EQUAL_AROUND (angle, PI / 2)) { + if(XCAM_DOUBLE_EQUAL_AROUND (angle, XCAM_PI / 2)) { world.x = 0.0f; world.y = -sqrt(r2 * b * b); - } else if (XCAM_DOUBLE_EQUAL_AROUND (angle, PI * 3 / 2)) { + } else if (XCAM_DOUBLE_EQUAL_AROUND (angle, XCAM_PI * 3 / 2)) { world.x = 0.0f; world.y = sqrt(r2 * b * b); - } else if((angle < PI / 2) || (angle > PI * 3 / 2)) { + } else if((angle < XCAM_PI / 2) || (angle > XCAM_PI * 3 / 2)) { world.x = sqrt(r2 * a * a * b * b / (b * b + a * a * tan(angle) * tan(angle))); world.y = -world.x * tan(angle); } else { @@ -124,7 +124,6 @@ PointFloat3 bowl_view_image_to_world ( b = b * sqrt(1 - config.center_z * config.center_z / (c * c)); float ratio_ab = b / a; - float step_b = config.ground_length / ground_image_height; b = b - (img_pos.y - wall_image_height) * step_b; @@ -132,13 +131,13 @@ PointFloat3 bowl_view_image_to_world ( angle = degree2radian (config.angle_start + img_pos.x * angle_step); - if(XCAM_DOUBLE_EQUAL_AROUND (angle, PI / 2)) { + if(XCAM_DOUBLE_EQUAL_AROUND (angle, XCAM_PI / 2)) { world.x = 0.0f; world.y = -b; - } else if (XCAM_DOUBLE_EQUAL_AROUND (angle, PI * 3 / 2)) { + } else if (XCAM_DOUBLE_EQUAL_AROUND (angle, XCAM_PI * 3 / 2)) { world.x = 0.0f; world.y = b; - } else if((angle < PI / 2) || (angle > PI * 3 / 2)) { + } else if((angle < XCAM_PI / 2) || (angle > XCAM_PI * 3 / 2)) { world.x = a * b / sqrt(b * b + a * a * tan(angle) * tan(angle)); world.y = -world.x * tan(angle); } else { @@ -193,13 +192,13 @@ linear_interpolate_p2 ( if (dist_start == 0) { weight_start = 10000000.0; } else { - weight_start = ((double)dist_sum / dist_start); + weight_start = (dist_sum / dist_start); } if (dist_end == 0) { weight_end = 10000000.0; } else { - weight_end = ((double)dist_sum / dist_end); + weight_end = (dist_sum / dist_end); } value = (value_start * weight_start + value_end * weight_end) / (weight_start + weight_end); @@ -227,36 +226,35 @@ linear_interpolate_p4( double dist_sum = 0; double value = 0; - dist_lt = (double)abs(ref_curr_x - ref_lt_x) + (double)abs(ref_curr_y - ref_lt_y); - dist_rt = (double)abs(ref_curr_x - ref_rt_x) + (double)abs(ref_curr_y - ref_rt_y); - dist_lb = (double)abs(ref_curr_x - ref_lb_x) + (double)abs(ref_curr_y - ref_lb_y); - dist_rb = (double)abs(ref_curr_x - ref_rb_x) + (double)abs(ref_curr_y - ref_rb_y); + dist_lt = abs(ref_curr_x - ref_lt_x) + abs(ref_curr_y - ref_lt_y); + dist_rt = abs(ref_curr_x - ref_rt_x) + abs(ref_curr_y - ref_rt_y); + dist_lb = abs(ref_curr_x - ref_lb_x) + abs(ref_curr_y - ref_lb_y); + dist_rb = abs(ref_curr_x - ref_rb_x) + abs(ref_curr_y - ref_rb_y); dist_sum = dist_lt + dist_rt + dist_lb + dist_rb; if (dist_lt == 0) { weight_lt = 10000000.0; } else { - weight_lt = ((float)dist_sum / dist_lt); + weight_lt = (dist_sum / dist_lt); } if (dist_rt == 0) { weight_rt = 10000000.0; } else { - weight_rt = ((float)dist_sum / dist_rt); + weight_rt = (dist_sum / dist_rt); } if (dist_lb == 0) { weight_lb = 10000000.0; } else { - weight_lb = ((float)dist_sum / dist_lb); + weight_lb = (dist_sum / dist_lb); } if (dist_rb == 0) { weight_rb = 10000000.0; } else { - weight_rb = ((float)dist_sum / dist_rt); + weight_rb = (dist_sum / dist_rt); } - value = (double)floor ( (value_lt * weight_lt + value_rt * weight_rt + - value_lb * weight_lb + value_rb * weight_rb) / - (weight_lt + weight_rt + weight_lb + weight_rb) + 0.5 ); + value = floor ((value_lt * weight_lt + value_rt * weight_rt + value_lb * weight_lb + value_rb * weight_rb) / + (weight_lt + weight_rt + weight_lb + weight_rb) + 0.5); return value; } @@ -272,7 +270,7 @@ get_gauss_table (uint32_t radius, float sigma, std::vector<float> &table, bool n table[radius] = 1.0f; for (i = 0; i < radius; i++) { - dis = ((float)i - radius) * ((float)i - radius); + dis = (i - radius) * (i - radius); table[i] = table[scale - i - 1] = exp(-dis / (2.0f * sigma * sigma)); sum += table[i] * 2.0f; } |