robocars/robocar-simulator
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upgrade code for new simulator version

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* add new rotation axis
 * resize image if necessary
 * add debug logs
This commit is contained in:
Cyrille Nofficial
2021-10-17 19:03:29 +02:00
parent 2bdc945ec5
commit 3cd3d89b60
39 changed files with 7082 additions and 46 deletions
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13
cmd/rc-simulator/rc-simultator.go
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@ -58,7 +58,7 @@ func main() {
var cameraFov, cameraImgW, cameraImgH, cameraImgD int
var cameraFishEyeX, cameraFishEyeY float64
var cameraOffsetX, cameraOffsetY, cameraOffsetZ, cameraRotX float64
var cameraOffsetX, cameraOffsetY, cameraOffsetZ, cameraRotX, cameraRotY, cameraRotZ float64
var cameraImgEnc string
flag.IntVar(&cameraFov, "camera-fov", 90, "")
flag.Float64Var(&cameraFishEyeX, "camera-fish-eye-x", 0.4, "")
@ -70,7 +70,9 @@ func main() {
flag.Float64Var(&cameraOffsetX, "camera-offset-x", 0, "moves camera left/right")
flag.Float64Var(&cameraOffsetY, "camera-offset-y", 1.120395, "moves camera up/down")
flag.Float64Var(&cameraOffsetZ, "camera-offset-z", 0.5528488, "moves camera forward/back")
flag.Float64Var(&cameraRotX, "camera-rot-x", 15.0, "rotate the camera")
flag.Float64Var(&cameraRotX, "camera-rot-x", 15.0, "rotate the camera around x-axis")
flag.Float64Var(&cameraRotY, "camera-rot-y", 0.0, "rotate the camera around y-axis")
flag.Float64Var(&cameraRotZ, "camera-rot-z", 0.0, "rotate the camera around z-axis")
flag.Parse()
if len(os.Args) <= 1 {
@ -132,8 +134,13 @@ func main() {
OffsetY: fmt.Sprintf("%.2f", cameraOffsetY),
OffsetZ: fmt.Sprintf("%.2f", cameraOffsetZ),
RotX: fmt.Sprintf("%.2f", cameraRotX),
RotY: fmt.Sprintf("%.2f", cameraRotY),
RotZ: fmt.Sprintf("%.2f", cameraRotZ),
}
gtw, err := gateway.New(address, &carConfig, &racer, &camera)
if err != nil {
zap.S().Fatalf("unable to init gateway: %v", err)
}
gtw := gateway.New(address, &carConfig, &racer, &camera)
defer gtw.Stop()
msgPub := events.NewMsgPublisher(