//wrap SendData class
void* wrapSender(void *tsd){
//get values from sample_corner_point , convert latitude and longitude,
//and send database server.
std::vector<CARPOS> car_position_vector(global_cp_vector.size());
vector<CARPOS>::iterator cp_iterator;
//thread safe process for vector
pthread_mutex_lock( &mutex );
std::copy(global_cp_vector.begin(), global_cp_vector.end(), car_position_vector.begin());
pthread_mutex_unlock( &mutex );
cp_iterator = car_position_vector.begin();
while(cp_iterator != car_position_vector.end()){
double U = (cp_iterator.x1 + cp_iterator.x2)/2;
double V = (cp_iterator.y1 + cp_iterator.y2)/2;
//convert
sl.setOriginalValue(U,V,cp_iteartor.distance);
LOCATION ress = sl.cal();
//get axial rotation and movement vector from camera to velodyne.
ANGLE angle;
MoveVector mvvector;
axiMove am;
LOCATION velocoordinate = am.cal(ress,angle,mvvector);
/*
I got my GPS location too.it`s my_xloc,my_yloc.
*/
double my_xloc = 35.180188;
double my_yloc = 136.906565;
/*
process of conversion to absolute coodinate from relative coordinates.
yes, I did! next...
*/
LOCATION reccoord = am.cal(velecoordinate,angle);
calcoordinates cc;
RESULT res = cc.cal(ress.X,ress.Z,my_xloc,my_yloc);
//I assume that values has 4 value ex: "0,0,0,0" "1,2,3,4"
//And if setting the other number of value , sendData will be failed.
char values[100];
sprintf(values,"%f,%f,0,0",res.lat,res.log);
char dbn[100] = "prius_data_store";
char ct[100] = "latitude,logitude,type,id";
SendData sd;
sd.setData(values);
sd.setDBName(dbn);
sd.setColumnType(st);
sd.Sender();
cp_iterator++;
}
return NULL;
}
//wrap SendData class
void* wrapSender(void *tsd){
//get values from sample_corner_point , convert latitude and longitude,
//and send database server.
std::vector<CARPOS> car_position_vector(global_cp_vector.size());
std::vector<CARPOS>::iterator cp_iterator;
//thread safe process for vector
pthread_mutex_lock( &mutex );
std::copy(global_cp_vector.begin(), global_cp_vector.end(), car_position_vector.begin());
pthread_mutex_unlock( &mutex );
cp_iterator = car_position_vector.begin();
while(cp_iterator != car_position_vector.end()){
//middle of right-lower and left-upper
double U = (cp_iterator->x1 + cp_iterator->x2)/2;
double V = (cp_iterator->y1 + cp_iterator->y2)/2;
//convert
sl.setOriginalValue(U,V,cp_iterator->distance);
LOCATION ress = sl.cal();
//get axial rotation and movement vector from camera to velodyne.
ANGLE angle;
angle.thiX = 0;
angle.thiY = 0;
angle.thiZ = 0;
MoveVector mvvector;
mvvector.X = 0;
mvvector.Y = 0;
mvvector.Z = 0;
axiMove am;
LOCATION velocoordinate = am.cal(ress,angle,mvvector);
/*
I got my GPS location too.it`s my_xloc,my_yloc.
and I convert to plane rectangular coordinate from latitude and longitude.
*/
/*
our rectangular plane is 6 in Japan.
*/
double lat_plane = 36;//136.906565;
double lon_plane = 137.1;//35.180188;
//sample Longitude and Latitude 3513.1345669,N,13658.9971525,E
double my_xloc= 3513.1345669;
double my_yloc= 13658.9971525;
double my_zloc= 0;
/*
process of conversion to absolute coodinate from relative coordinates.
yes, I did! next...
*/
geo_pos_conv geo;
geo.set_plane(7);
geo.set_llh_nmea_degrees(my_xloc,my_yloc,my_zloc);
printf("geo : %f\t%f\n",geo.x(),geo.y());
LOCATION rescoord = am.cal(velocoordinate,angle);
rescoord.X = geo.x();
rescoord.Y = 0;
rescoord.Z = geo.y();
calcoordinates cc;
RESULT res = cc.cal(rescoord.X,rescoord.Z,lat_plane,lon_plane);
//I assume that values has 4 value ex: "0 0 0 0" "1 2 3 4"
//And if setting the other number of value , sendData will be failed.
char values[100];
sprintf(values,"%f %f 0 0",res.lat,res.log);
char dbn[100] = "prius_data_store";
char ct[100] = "latitude logitude type id";
SendData sd;
sd.setData(values);
sd.setDBName(dbn);
sd.setColumnType(ct);
sd.Sender();
cp_iterator++;
}
}
