Merge branch 'master' of github.com:axlecrusher/libsurvive into ootx_decoder_context_cleanup

7 files changed, 33 insertions, 23 deletions

diff --git a/tools/plot_lighthouse/Makefile b/tools/plot_lighthouse/Makefile
index d156bdb..db382ea 100644
--- a/tools/plot_lighthouse/Makefile
+++ b/tools/plot_lighthouse/Makefile
@@ -1,7 +1,7 @@
 UNAME := $(shell uname)
 
 ifeq ($(UNAME), Linux)
-CFLAGS:= -lGL -lGLU -lglut
+CFLAGS:= -lGL -lGLU -lglut -I../../redist -DLINUX -lm -lpthread
 endif
 
 # Darwin is Mac OSX !!
@@ -10,6 +10,6 @@ CFLAGS:= -w -framework OpenGL -framework GLUT
 endif
 
 all:
-	gcc -O3 -o plot_lighthouse main.c glutil.c fileutil.c ../../redist/os_generic.c $(CFLAGS)
+	gcc -O3 -o plot_lighthouse main.c glutil.c fileutil.c ../../redist/os_generic.c ../../redist/linmath.c $(CFLAGS)
 clean:
 	rm -f plot_lighthouse
diff --git a/tools/plot_lighthouse/fileutil.c b/tools/plot_lighthouse/fileutil.c
index f892798..b2c8f64 100644
--- a/tools/plot_lighthouse/fileutil.c
+++ b/tools/plot_lighthouse/fileutil.c
@@ -110,7 +110,10 @@ void *ThreadReadHmtAngles(void *junk)
 		if ( xy[0]   =='Y' ) { sweepId++; }
 		double angle = (PI / 400000.0) * ( (double)timeInSweep-200000.0 );
 		
-		if ( strcmp(hmd,"HMD")!=0 ) { continue; }
+		if      ( strcmp(hmd,"HMD")==0 ) { id += 0;  } 
+		else if ( strcmp(hmd,"WM0")==0 ) { id += 32; }
+		else if ( strcmp(hmd,"WM1")==0 ) { id += 56; }
+		else    { continue; }
 		
 		if ( id<0 || id >NUM_HMD) { continue; }
 
diff --git a/tools/plot_lighthouse/fileutil.h b/tools/plot_lighthouse/fileutil.h
index 714fbbd..e5da244 100644
--- a/tools/plot_lighthouse/fileutil.h
+++ b/tools/plot_lighthouse/fileutil.h
@@ -2,7 +2,7 @@
 #define _fileutil_h_
 
 #include <pthread.h>
-#include "../../redist/os_generic.h"
+#include "os_generic.h"
 
 void LoadLighthousePos(
 	const char *path, 
@@ -10,7 +10,8 @@ void LoadLighthousePos(
 	float *qi, float *qj, float *qk, float *qreal);
 
 
-#define NUM_HMD   32
+// first 32 are hmd, next 24 wm0 next 24 wm1
+#define NUM_HMD   80
 #define NUM_SWEEP 4
 #define SWEEP_LX  0
 #define SWEEP_LY  1
diff --git a/tools/plot_lighthouse/glutil.c b/tools/plot_lighthouse/glutil.c
index dd022a0..99c15f7 100644
--- a/tools/plot_lighthouse/glutil.c
+++ b/tools/plot_lighthouse/glutil.c
@@ -50,24 +50,23 @@ void DrawCoordinateSystem(
 	float x, float y, float z,
 	float qx, float qy, float qz, float qr)
 {
-	Quaternion i0,j0,k0;
-	Quaternion i, j, k;
-	Quaternion q;
-
-	// Calculate the i, j, and k vectors
-	QuaternionSet(i0, 1, 0, 0, 0);
-	QuaternionSet(j0, 0, 1, 0, 0);
-	QuaternionSet(k0, 0, 0, 1, 0);
-	QuaternionSet(q, qx, qy, qz, qr);
-	QuaternionRot(i, q, i0);
-	QuaternionRot(j, q, j0);
-	QuaternionRot(k, q, k0);
+	FLT i0[3],j0[3],k0[3];
+	FLT i[3],j[3],k[3];
+	FLT q[4];
+	
+	i0[0]=1.0; i0[1]=0.0; i0[2]=0.0;
+	j0[0]=0.0; j0[1]=1.0; j0[2]=0.0;
+	k0[0]=0.0; k0[1]=0.0; k0[2]=1.0;
+	q [0]=qr;  q [1]=qx;  q [2]=qy;  q [3]=qz;
 	
-	// Draw the coordinate system i red, j green, k blue
+	quatrotatevector(i, q, i0);
+	quatrotatevector(j, q, j0);
+	quatrotatevector(k, q, k0);
+
 	glBegin(GL_LINES);
-	glColor3f(1, 0, 0); glVertex3f(x,z,y); glVertex3f(x+i.i,z+i.k,y+i.j);
-	glColor3f(0, 1, 0); glVertex3f(x,z,y); glVertex3f(x+j.i,z+j.k,y+j.j);
-	glColor3f(0, 0, 1); glVertex3f(x,z,y); glVertex3f(x+k.i,z+k.k,y+k.j);
+	glColor3f(1, 0, 0); glVertex3f(x,z,y); glVertex3f(x+i[0],z+i[2],y+i[1]);
+	glColor3f(0, 1, 0); glVertex3f(x,z,y); glVertex3f(x+j[0],z+j[2],y+j[1]);
+	glColor3f(0, 0, 1); glVertex3f(x,z,y); glVertex3f(x+k[0],z+k[2],y+k[1]);
 	glEnd();
 }
 
diff --git a/tools/plot_lighthouse/glutil.h b/tools/plot_lighthouse/glutil.h
index 1014506..936701e 100644
--- a/tools/plot_lighthouse/glutil.h
+++ b/tools/plot_lighthouse/glutil.h
@@ -10,7 +10,8 @@
 #define glutil_h
 
 #include <stdio.h>
-#include "quaternion.h"
+//#include "quaternion.h"
+#include "linmath.h"
 
 #include <stdio.h>
 #ifdef __APPLE__
diff --git a/tools/plot_lighthouse/main.c b/tools/plot_lighthouse/main.c
index 8088828..4a64c28 100644
--- a/tools/plot_lighthouse/main.c
+++ b/tools/plot_lighthouse/main.c
@@ -13,6 +13,11 @@
 #include "glutil.h"
 #include "fileutil.h"
 
+#ifdef LINUX
+#include <GL/freeglut.h>
+#endif
+
+
 // Required to set up a window
 #define WIDTH  800
 #define HEIGHT 600
diff --git a/tools/process_rawcap/process_to_points.c b/tools/process_rawcap/process_to_points.c
index a1e835d..3ccfcc1 100644
--- a/tools/process_rawcap/process_to_points.c
+++ b/tools/process_rawcap/process_to_points.c
@@ -192,7 +192,8 @@ int main( int argc, char ** argv )
 			stddevtim += Sdiff * Sdiff;
 			stddevlen += Ldiff * Ldiff;
 
-			Sdiff/=4;
+			//Cast a wider net for the histogram.
+			//Sdiff/=4;
 
 			int llm = Sdiff + (HISTOGRAMSIZE/2.0);
 			if( llm < 0 ) llm = 0;