void rotate_fltr(image_t *img,
const double alpha,
const double beta,
const double gamma,
const double x, const double y, const double z)
{
float *newimg;
float *orig;
int h,w;
int bands;
Tmatrix tm;
double **remaptable;
const double deg2rad = M_PI/180.0;
w=img->w;
h=img->h;
bands=img->bands;
if (img->d!=1) return;
newimg=(float*)calloc(w*h*bands,sizeof(float));
orig=img->data;
/* build the transform matrix */
makeTmatrix(deg2rad*alpha,deg2rad*beta,deg2rad*gamma,x,y,z,tm);
/* construct the address remap table */
#ifdef DEBUG
if (verbose) fprintf(stderr,"Passing getMapping() [w,h]=[%d,%d]\n",w,h);
#endif
remaptable=getMapping3d(w,h,tm);
/* do the remapping */
remapImage(orig,w,h,newimg,w,h,bands,remaptable);
free(remaptable[0]);
free(remaptable);
memcpy(orig,newimg,w*h*bands*sizeof(float));
free(newimg);
}
void DisparityProvider::remapImages() noexcept
{
_leftImage = remapImage(_leftImage, _rectifyMapXLeft, _rectifyMapYLeft);
_rightImage = remapImage(_rightImage, _rectifyMapXRight, _rectifyMapYRight);
}
