#include "zf_common_headfile.h"
#include "gl_headfile.h"


float H_inv[3][3] = {};

// 逆变换，俯视->原图
void transform(float X, float Y, int* x, int* y) {
    // Apply inverse transformation
    double p[3] = {X, Y, 1.0};
    double q[3] = {0.0, 0.0, 0.0};
    for (int i = 0; i < 3; i++) {
        for (int j = 0; j < 3; j++) {
            q[i] += H_inv[i][j] * p[j];
        }
    }

    *x =(int) (q[0] / q[2]);
    *y = (int) (q[1] / q[2]);
}


const float UndistInverseMapH[90][140]  =   {};


const float UndistInverseMapW[90][140]  =   {};