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camera: correct some wrong signs in plane rotation

pull/1/head
emamaker 2022-06-09 09:55:25 +02:00
parent 2bad8a9921
commit a7079d2ef1
1 changed files with 6 additions and 6 deletions
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12
src/sensors/data_source_camera_conicmirror.cpp
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@ -122,10 +122,10 @@ void DataSourceCameraConic ::computeCoordsAngles() {
//The formula used below assumes the angle being positive in counterclockwise and negative in clockwise, so the angle must be multiplied by -1 //The formula used below assumes the angle being positive in counterclockwise and negative in clockwise, so the angle must be multiplied by -1
//A little explanation of the formula used here can be found on wikipedia: https://en.wikipedia.org/wiki/Rotation_of_axes //A little explanation of the formula used here can be found on wikipedia: https://en.wikipedia.org/wiki/Rotation_of_axes
float angleFix = -tmp*3.14/180; float angleFix = -tmp*3.14/180;
true_xb_fixed = (true_xb*(cos(angleFix))) - (true_yb*(sin(angleFix))); true_xb_fixed = (true_xb*(cos(angleFix))) + (true_yb*(sin(angleFix)));
true_yb_fixed = (true_xb*(sin(angleFix))) + (true_yb*(cos(angleFix))); true_yb_fixed = (-true_xb*(sin(angleFix))) + (true_yb*(cos(angleFix)));
true_xy_fixed = (true_xy*(cos(angleFix))) - (true_yy*(sin(angleFix))); true_xy_fixed = (true_xy*(cos(angleFix))) + (true_yy*(sin(angleFix)));
true_yy_fixed = (true_xy*(sin(angleFix))) + (true_yy*(cos(angleFix))); true_yy_fixed = (-true_xy*(sin(angleFix))) + (true_yy*(cos(angleFix)));
#ifdef CAMERA_CONIC_FILTER_POINTS #ifdef CAMERA_CONIC_FILTER_POINTS
true_xb_fixed = filter_xb_fix->calculate(true_xb_fixed); true_xb_fixed = filter_xb_fix->calculate(true_xb_fixed);
@ -134,8 +134,8 @@ void DataSourceCameraConic ::computeCoordsAngles() {
true_yy_fixed = filter_yy_fix->calculate(true_yy_fixed); true_yy_fixed = filter_yy_fix->calculate(true_yy_fixed);
#endif #endif
yAngleFix = 90 - (atan2(true_yy_fixed, true_xy_fixed) * 180 / 3.14); yAngleFix = -90 + (atan2(true_yy_fixed, true_xy_fixed) * 180 / 3.14);
bAngleFix = 90 - (atan2(true_yb_fixed, true_xb_fixed) * 180 / 3.14); bAngleFix = -90 + (atan2(true_yb_fixed, true_xb_fixed) * 180 / 3.14);
//Important: update status vector //Important: update status vector
CURRENT_INPUT_WRITE.cameraByte = value; CURRENT_INPUT_WRITE.cameraByte = value;