moved_client_list * moved_client_list_open() { moved_client_list *result = NULL; char hostname[255]; FILE *fp; char *filename = psmove_util_get_file_path(MOVED_HOSTS_LIST_FILE); fp = fopen(filename, "r"); if (fp != NULL) { while (fgets(hostname, sizeof(hostname), fp) != NULL) { char *end = hostname + strlen(hostname) - 1; if (*end == '\n' || *end == '\r') { *end = '\0'; } printf("Using remote host '%s' (from %s)\n", hostname, MOVED_HOSTS_LIST_FILE); result = moved_client_list_insert(result, moved_client_create(hostname)); } fclose(fp); } free(filename); /* XXX: Read from config file */ //result = moved_client_list_insert(result, moved_client_create("localhost")); return result; }
FILE * tracker_trace_file() { if (!tracker_trace.fp) { char *filename = psmove_util_get_file_path("debug.js"); tracker_trace.fp = fopen(filename, "w"); free(filename); } return tracker_trace.fp; }
void psmove_html_trace_image(IplImage *image, char* var, int no_js_var) { char img_name[256]; // write image to file sysxtem sprintf(img_name, "image_%s.jpg", var); char *filename = psmove_util_get_file_path(img_name); th_save_jpg(filename, image, 100); free(filename); // write image-name to java variable (if desired) if (!no_js_var) { psmove_html_trace_put_text_var(var,img_name); } }
void psmove_html_trace_image(IplImage *image, char* var, int no_js_var) { char img_name[256]; // write image to file sysxtem sprintf(img_name, "image_%s.jpg", var); char *filename = psmove_util_get_file_path(img_name); int imgParams[] = { CV_IMWRITE_JPEG_QUALITY, 100, 0 }; cvSaveImage(filename, image, imgParams); free(filename); // write image-name to java variable (if desired) if (!no_js_var) { psmove_html_trace_put_text_var(var,img_name); } }
void psmove_html_trace_image_at(IplImage *image, int index, char* target) { char img_name[256]; // write image to file sysxtem sprintf(img_name, "image_%d.jpg", tracker_trace.img_count); char *filename = psmove_util_get_file_path(img_name); th_save_jpg(filename, image, 100); free(filename); tracker_trace.img_count++; // write image-name to java script array psmove_html_trace_array_item_at(index, target, img_name); }
void psmove_html_trace_image_at(IplImage *image, int index, char* target) { char img_name[256]; // write image to file sysxtem sprintf(img_name, "image_%d.jpg", tracker_trace.img_count); char *filename = psmove_util_get_file_path(img_name); int imgParams[] = { CV_IMWRITE_JPEG_QUALITY, 100, 0 }; cvSaveImage(filename, image, imgParams); free(filename); tracker_trace.img_count++; // write image-name to java script array psmove_html_trace_array_item_at(index, target, img_name); }
PSMoveCalibration * psmove_calibration_new(PSMove *move) { PSMove_Data_BTAddr addr; char *serial; int i; PSMoveCalibration *calibration = (PSMoveCalibration*)calloc(1, sizeof(PSMoveCalibration)); calibration->move = move; if (psmove_connection_type(move) == Conn_USB) { _psmove_read_btaddrs(move, NULL, &addr); serial = _psmove_btaddr_to_string(addr); } else { serial = psmove_get_serial(move); } if (!serial) { psmove_CRITICAL("Could not determine serial from controller"); free(calibration); return NULL; } for (i = 0; i<(int)strlen(serial); i++) { if (serial[i] == ':') { serial[i] = '_'; } } size_t calibration_filename_length = strlen(serial) + strlen(PSMOVE_CALIBRATION_EXTENSION) + 1; char *calibration_filename = (char *)malloc(calibration_filename_length); strcpy(calibration_filename, serial); strcat(calibration_filename, PSMOVE_CALIBRATION_EXTENSION); calibration->filename = psmove_util_get_file_path(calibration_filename); calibration->system_filename = psmove_util_get_system_file_path(calibration_filename); free(calibration_filename); free(serial); /* Try to load the calibration data from disk, or from USB */ psmove_calibration_load(calibration); if (!psmove_calibration_supported(calibration)) { if (psmove_connection_type(move) == Conn_USB) { psmove_DEBUG("Storing calibration from USB\n"); psmove_calibration_read_from_usb(calibration); psmove_calibration_save(calibration); } } /* Pre-calculate values used for mapping input */ if (psmove_calibration_supported(calibration)) { /* Accelerometer reading (high/low) for each axis */ int axlow, axhigh, aylow, ayhigh, azlow, azhigh; psmove_calibration_get_usb_accel_values(calibration, &axlow, &axhigh, &aylow, &ayhigh, &azlow, &azhigh); /** * * Calculation of accelerometer mapping (as factor of gravity, 1g): * * 2 * (raw - low) * calibrated = ---------------- - 1 * (high - low) * * with: * * raw .... Raw sensor reading * low .... Raw reading at -1g * high ... Raw reading at +1g * * Now define: * * 2 * f = -------------- * (high - low) * * And combine constants: * * c = - (f * low) - 1 * * Then we get: * * calibrated = f * raw + c * **/ /* Accelerometer factors "f" */ calibration->ax = 2.f / (float)(axhigh - axlow); calibration->ay = 2.f / (float)(ayhigh - aylow); calibration->az = 2.f / (float)(azhigh - azlow); /* Accelerometer constants "c" */ calibration->bx = - (calibration->ax * (float)axlow) - 1.f; calibration->by = - (calibration->ay * (float)aylow) - 1.f; calibration->bz = - (calibration->az * (float)azlow) - 1.f; /** * Calculation of gyroscope mapping (in radiant per second): * * raw * calibrated = -------- * 2 PI * rpm60 * * 60 * rpm80 * rpm60 = ------------ * 80 * * with: * * raw ..... Raw sensor reading * rpm80 ... Sensor reading at 80 RPM (from calibration blob) * rpm60 ... Sensor reading at 60 RPM (1 rotation per second) * * Or combined: * * 80 * raw * 2 PI * calibrated = ----------------- * 60 * rpm80 * * Now define: * * 2 * PI * 80 * f = ------------- * 60 * rpm80 * * Then we get: * * calibrated = f * raw * **/ int gx80, gy80, gz80; psmove_calibration_get_usb_gyro_values(calibration, &gx80, &gy80, &gz80); float factor = (float)(2.0 * M_PI * 80.0) / 60.0; calibration->gx = factor / (float)gx80; calibration->gy = factor / (float)gy80; calibration->gz = factor / (float)gz80; } else { /* No calibration data - pass-through input data */ calibration->ax = 1.f; calibration->ay = 1.f; calibration->az = 1.f; calibration->bx = 0.f; calibration->by = 0.f; calibration->bz = 0.f; calibration->gx = 1.f; calibration->gy = 1.f; calibration->gz = 1.f; } return calibration; }