void analyzeF(const CvMat* F, CvSize imSize) {
CvMat* K = fvision::getKFromVerticalFovAndImageSize(40 * CV_PI / 180, imSize);
CvMat* e1 = null(F);
CvMat* e2 = leftNull(F);
double xtheta, ztheta;
getEpipoleThetas(e1, K, ztheta, xtheta);
cout<<"e1 thetas: "<<radianToDegrees(ztheta)<<" - "<<radianToDegrees(xtheta)<<endl;
getEpipoleThetas(e2, K, ztheta, xtheta);
cout<<"e2 thetas: "<<radianToDegrees(ztheta)<<" - "<<radianToDegrees(xtheta)<<endl;
}
void Ball::drawTexture()
{
b2Vec2 position = ball->GetPosition();
#define fX(x) ((int)(x * (1 << 16)))
int square[12] = {
fX(-0.5), fX(-0.5), 0,
fX(0.5), fX(-0.5), 0,
fX(-0.5), fX(0.5), 0,
fX(0.5), fX(0.5), 0
};
int texCoords[8] = {
0, fX(1),
fX(1), fX(1),
0,0,
fX(1),0
};
glPushMatrix();
glTranslatef(position.x, position.y, 0);
glScalef(140,140,0);
// m_joint->GetJointAngle()
float angle = radianToDegrees( ball->GetAngle() );
glRotatef(angle,0.0f,0.0f,1.0f);
// LOGI("praktyczna rotacja o: %f \n", angle);
glBindTexture( GL_TEXTURE_2D, texture );
glVertexPointer(3, GL_FIXED, 0, square);
glTexCoordPointer(2, GL_FIXED, 0, texCoords);
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
glPopMatrix();
}
