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-rw-r--r--client2.cpp22
1 files changed, 11 insertions, 11 deletions
diff --git a/client2.cpp b/client2.cpp
index 06965f0..ba3981b 100644
--- a/client2.cpp
+++ b/client2.cpp
@@ -515,13 +515,13 @@ int main(int argc, const char** argv)
float px_per_deg = diag / 92.;
- int total_x = 100, total_y = 00;
+ float total_x = 100/px_per_deg, total_y = 0;
float total_rot = 0.0;
Mat frame(Size(1280,720), CV_8UC3), frame_(Size(1280,720), CV_8UC3), gray, oldgray;
#define RINGBUF_SIZE 4
- ModuloRingbuffer ringbuf_x(RINGBUF_SIZE, -180*px_per_deg, 180*px_per_deg);
+ ModuloRingbuffer ringbuf_x(RINGBUF_SIZE, -180, 180);
Ringbuffer ringbuf_y(RINGBUF_SIZE);
ModuloRingbuffer ringbuf_a(RINGBUF_SIZE, -180,180);
ModuloRingbuffer ringbuf_phi(RINGBUF_SIZE, -180,180);
@@ -602,12 +602,12 @@ int main(int argc, const char** argv)
printf("no mat!\n");
}
- total_x += cos(total_rot*PI/180.)*shift_x + sin(total_rot*PI/180.)*shift_y;
- total_y += -sin(total_rot*PI/180.)*shift_x + cos(total_rot*PI/180.)*shift_y;
+ total_x += ( cos(total_rot*PI/180.)*shift_x + sin(total_rot*PI/180.)*shift_y) / px_per_deg;
+ total_y += (-sin(total_rot*PI/180.)*shift_x + cos(total_rot*PI/180.)*shift_y) / px_per_deg;
total_rot = fixup_angle(total_rot+angle);
ringbuf_x.put(total_x);
- ringbuf_y.put(total_y);
+ ringbuf_y.put(total_y); //TODO
ringbuf_a.put(total_rot);
ringbuf_phi.put(navdata.phi);
ringbuf_psi.put(navdata.psi);
@@ -615,8 +615,8 @@ int main(int argc, const char** argv)
ringbuf_theta2.put(navdata.theta);
ringbuf_theta.put(navdata.theta);
- double xdiff = fixup_range( ringbuf_x.get() - px_per_deg*ringbuf_psi.get(), -180*px_per_deg, 180*px_per_deg);
- double ydiff = ringbuf_y.get() + px_per_deg*ringbuf_theta.get();
+ double xdiff = fixup_range( ringbuf_x.get() - ringbuf_psi.get(), -180, 180);
+ double ydiff = ringbuf_y.get() + ringbuf_theta.get();
double adiff = fixup_angle(ringbuf_a.get() - (-ringbuf_phi.get()));
//if (fabs(xdiff) < px_per_deg) xdiff = 0.0;
@@ -626,14 +626,14 @@ int main(int argc, const char** argv)
xdiff*=0.02;
ydiff*=0.02;
adiff*=0.5;
- total_x = fixup_range(total_x - xdiff, -180*px_per_deg, 180*px_per_deg);
+ total_x = fixup_range(total_x - xdiff, -180, 180);
total_y = total_y - ydiff;
total_rot = fixup_angle(total_rot - adiff);
ringbuf_x.add(-xdiff);
ringbuf_y.add(-ydiff);
ringbuf_a.add(-adiff);
- //total_x = navdata.psi * px_per_deg;
+ //total_x = navdata.psi;
//total_y = - navdata.theta * px_per_deg;
//total_rot = -navdata.phi;
@@ -680,8 +680,8 @@ int main(int argc, const char** argv)
glUseProgram(drawOnCanvasProgram);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, texVideo);
- glUniform1f(uniCamYaw,(float)total_x/(360*px_per_deg)*2*PI);
- glUniform1f(uniCamPitch,-(float)total_y/px_per_deg/180.*PI);
+ glUniform1f(uniCamYaw,(float)total_x/180.*PI);
+ glUniform1f(uniCamPitch,-(float)total_y/180.*PI);
glUniform1f(uniCamRoll,-total_rot/180.*PI);
glDrawArrays(GL_TRIANGLES, 0, 6);