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Passing angles, size to scan_update()

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This commit is contained in:
simondlevy
2018-07-04 15:40:59 -04:00
parent 6cda4901dd
commit 7298ad9b8a
2 changed files with 3 additions and 1 deletions
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2
c/coreslam.c
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@@ -439,6 +439,8 @@ scan_update(
double velocities_dxy_mm, double velocities_dxy_mm,
double velocities_dtheta_degrees) double velocities_dtheta_degrees)
{ {
printf("%p %d\n", lidar_angles_deg, scan_size);
/* Take velocity into account */ /* Take velocity into account */
int degrees_per_second = (int)(scan->rate_hz * 360); int degrees_per_second = (int)(scan->rate_hz * 360);
double horz_mm = velocities_dxy_mm / degrees_per_second; double horz_mm = velocities_dxy_mm / degrees_per_second;

2
python/pybreezyslam.c
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@@ -353,7 +353,7 @@ Scan_update(Scan *self, PyObject *args, PyObject *kwds)
// Update the scan // Update the scan
scan_update( scan_update(
&self->scan, &self->scan,
NULL, (py_scan_angles_degrees != Py_None) ? self->lidar_angles_deg :NULL,
self->lidar_distances_mm, self->lidar_distances_mm,
PyList_Size(py_lidar), PyList_Size(py_lidar),
hole_width_mm, hole_width_mm,