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fix(*): imu display blink.

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This commit is contained in:
TinyO 2019-08-28 17:51:53 +08:00
parent 4afa3fd311
commit 9f83e83cb6
1 changed files with 36 additions and 6 deletions
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42
samples/util_cv_painter.cc
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@ -116,18 +116,48 @@ cv::Rect CVPainter::DrawImuData(
int sign = 1;
if (gravity == BOTTOM_LEFT || gravity == BOTTOM_RIGHT)
sign = -1;
Clear(ss) << "stamp: " << data.timestamp
static auto fmt_time = NewFormat(0, 2);
Clear(ss) << "stamp: " << fmt_time << (0.001f * data.timestamp)
<< ", temp: " << fmt_temp << data.temperature;
cv::Rect rect_i = DrawText(img, ss.str(), gravity, 5);
Clear(ss) << "accel(x,y,z): " << fmt_imu << data.accel[0] << "," << fmt_imu
<< data.accel[1] << "," << fmt_imu << data.accel[2];
static double accel1_s = 0.0;
static double accel2_s = 0.0;
static double accel3_s = 0.0;
if (data.accel[0] > 0.000001 ||
data.accel[1] > 0.000001 ||
data.accel[2] > 0.000001 ||
data.accel[0] < -0.000001 ||
data.accel[1] < -0.000001 ||
data.accel[2] < -0.000001) {
accel1_s = data.accel[0];
accel2_s = data.accel[1];
accel3_s = data.accel[2];
}
Clear(ss) << "accel(x,y,z): " << fmt_imu << accel1_s << "," << fmt_imu
<< accel2_s << "," << fmt_imu << accel3_s;
cv::Rect rect_a =
DrawText(img, ss.str(), gravity, 5, 0, sign * (5 + rect_i.height));
Clear(ss) << "gyro(x,y,z): " << fmt_imu << data.gyro[0] << "," << fmt_imu
<< data.gyro[1] << "," << fmt_imu << data.gyro[2];
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;
cv::Rect rect_g = DrawText(
img, ss.str(), gravity, 5, 0,
sign * (10 + rect_i.height + rect_a.height));