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feat(imu): imu2.0 first complete.

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TinyO
2019-09-29 15:11:16 +08:00
parent 997b6102d4
commit 7e0e4b83e7
6 changed files with 97 additions and 71 deletions
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19
samples/util_cv.cc
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@@ -141,23 +141,8 @@ cv::Rect CVPainter::DrawImuData(
cv::Rect rect_a =
DrawText(img, ss.str(), gravity, 5, 0, sign * (5 + rect_i.height));
static double gyro1_s = 0.0;
static double gyro2_s = 0.0;
static double gyro3_s = 0.0;
if (data.gyro[0] > 0.01 ||
data.gyro[1] > 0.01 ||
data.gyro[2] > 0.01 ||
data.gyro[0] < -0.01 ||
data.gyro[1] < -0.01 ||
data.gyro[2] < -0.01 ) {
gyro1_s = data.gyro[0];
gyro2_s = data.gyro[1];
gyro3_s = data.gyro[2];
}
Clear(ss) << "gyro(x,y,z): " << fmt_imu << gyro1_s << "," << fmt_imu
<< gyro2_s << "," << fmt_imu << gyro3_s;
Clear(ss) << "gyro(x,y,z): " << fmt_imu << data.gyro[0] << "," << fmt_imu
<< data.gyro[1] << "," << fmt_imu << data.gyro[2];
cv::Rect rect_g = DrawText(
img, ss.str(), gravity, 5, 0,
sign * (10 + rect_i.height + rect_a.height));