diff options
author | Justin Berger <j.david.berger@gmail.com> | 2018-03-15 21:17:42 -0600 |
---|---|---|
committer | Justin Berger <j.david.berger@gmail.com> | 2018-03-15 21:21:57 -0600 |
commit | 029b2909b37cc58ba35e0f46be1802866ee59730 (patch) | |
tree | ba6aa309f3ec7d6b0eb3a77ee67d8743392aa0e8 /src | |
parent | 26da6d75305d02e17e7b011ab88f6d50dcea02f0 (diff) | |
download | libsurvive-029b2909b37cc58ba35e0f46be1802866ee59730.tar.gz libsurvive-029b2909b37cc58ba35e0f46be1802866ee59730.tar.bz2 |
Forgot files
Diffstat (limited to 'src')
-rw-r--r-- | src/persistent_scene.c | 36 | ||||
-rw-r--r-- | src/persistent_scene.h | 32 |
2 files changed, 68 insertions, 0 deletions
diff --git a/src/persistent_scene.c b/src/persistent_scene.c new file mode 100644 index 0000000..9bbbf41 --- /dev/null +++ b/src/persistent_scene.c @@ -0,0 +1,36 @@ +#include "persistent_scene.h" +#include "linmath.h" +#include <stdlib.h> +#include <string.h> +#include <survive.h> + +bool PersistentScene_isStillValid(const PersistentScene *self, uint32_t timecode_now, uint32_t idx, int lh) { + const uint32_t *data_timecode = self->timecode[idx][lh]; + return !(timecode_now - data_timecode[0] > self->tolerance || timecode_now - data_timecode[1] > self->tolerance); +} + +void PersistentScene_add(PersistentScene *self, SurviveObject *so, PoserDataLight *lightData) { + int axis = (lightData->acode & 1); + uint32_t *data_timecode = &self->timecode[lightData->sensor_id][lightData->lh][axis]; + FLT *angle = &self->angles[lightData->sensor_id][lightData->lh][axis]; + + *angle = lightData->angle; + *data_timecode = lightData->timecode; +} + +void PersistentScene_ForEachCorrespondence(PersistentScene *self, PersistentScene_ForEachCorrespondence_fn fn, + SurviveObject *so, uint32_t timecode_now, void *user) { + for (int lh = 0; lh < NUM_LIGHTHOUSES; lh++) { + for (size_t i = 0; i < so->nr_locations; i++) { + if (PersistentScene_isStillValid(self, timecode_now, i, lh)) { + double *pts = self->angles[i][lh]; + fn(so, lh, i, pts, user); + } + } + } +} + +void PersistentScene_ctor(PersistentScene *self) { + memset(self, 0, sizeof(PersistentScene)); + self->tolerance = 1500000; +} diff --git a/src/persistent_scene.h b/src/persistent_scene.h new file mode 100644 index 0000000..07d9056 --- /dev/null +++ b/src/persistent_scene.h @@ -0,0 +1,32 @@ +#pragma once +#include "persistent_scene.h" +#include "stdbool.h" + +#ifndef USE_DOUBLE +#define FLT double +#define USE_DOUBLE +#endif + +#include "linmath.h" +#include <survive.h> + +typedef struct { + uint32_t tolerance; + + // If "lengths[...]" < 0, means not a valid piece of sweep information. + FLT angles[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // 2 Axes (Angles in LH space) + uint32_t timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; + + PoserDataIMU lastimu; + +} PersistentScene; + +typedef void (*PersistentScene_ForEachCorrespondence_fn)(SurviveObject *so, int lh, int sensor_idx, FLT *angles, + void *); +void PersistentScene_ForEachCorrespondence(PersistentScene *self, PersistentScene_ForEachCorrespondence_fn fn, + SurviveObject *so, uint32_t timecode_now, void *user); + +void PersistentScene_add(PersistentScene *self, SurviveObject *so, PoserDataLight *lightData); + +bool PersistentScene_isStillValid(const PersistentScene *self, uint32_t timecode_now, uint32_t idx, int lh); +void PersistentScene_ctor(PersistentScene *self); |