Update basic mode

cornellev · Nov 13, 2024 · 8ea4aaa · 8ea4aaa
1 parent 8775710
commit 8ea4aaa
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Showing 5 changed files with 8 additions and 10 deletions.
diff --git a/lib/icp/impl/feature_aware.cpp b/lib/icp/impl/feature_aware.cpp
@@ -40,8 +40,6 @@ namespace icp {
             a_current[i] = transform.apply_to(a[i]);
         }
 
-        auto a_current_cm = get_centroid(a_current);
-
         /* TODO: write smth #step Matching Step: */
         Eigen::MatrixXd norm_dists = compute_norm_dists(a_current, b);
 

diff --git a/src/main.cpp b/src/main.cpp
@@ -204,7 +204,7 @@ int main(int argc, const char** argv) {
     Log.is_enabled = *enable_log;
     parse_config(config_file, set_config_param, NULL);
     if (*basic_mode) {
-        view_config::use_light_background = true;
+        view_config::use_light_mode = true;
     }
 
     icp::ICP::register_builtin_methods();

diff --git a/src/sim/lidar_view.cpp b/src/sim/lidar_view.cpp
@@ -59,10 +59,10 @@ void LidarView::on_event(const SDL_Event& event) {
 
 void LidarView::draw(SDL_Renderer* renderer, [[maybe_unused]] const SDL_Rect* frame,
     [[maybe_unused]] double dtime) {
-    if (view_config::use_light_background) {
-        SDL_SetRenderDrawColor(renderer, 100, 100, 100, 255);
+    if (view_config::use_light_mode) {
+        SDL_SetRenderDrawColor(renderer, 255, 255, 255, SDL_ALPHA_OPAQUE);
     } else {
-        SDL_SetRenderDrawColor(renderer, 0, 0, 0, 0);
+        SDL_SetRenderDrawColor(renderer, 0, 0, 0, SDL_ALPHA_OPAQUE);
     }
     SDL_RenderClear(renderer);
 
@@ -80,12 +80,12 @@ void LidarView::draw(SDL_Renderer* renderer, [[maybe_unused]] const SDL_Rect* fr
     }
 
     icp::Vector a_cm = icp->current_transform().apply_to(icp::get_centroid(source));
-    SDL_SetRenderDrawColor(renderer, 255, 0, 0, 10);
+    SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE);
     SDL_DrawCircle(renderer, a_cm.x() + view_config::x_displace, a_cm.y() + view_config::y_displace,
         20);
 
     icp::Vector b_cm = icp::get_centroid(destination);
-    SDL_SetRenderDrawColor(renderer, 0, 0, 255, 10);
+    SDL_SetRenderDrawColor(renderer, 0, 0, 255, SDL_ALPHA_OPAQUE);
     SDL_DrawCircle(renderer, b_cm.x() + view_config::x_displace, b_cm.y() + view_config::y_displace,
         20);
 

diff --git a/src/sim/view_config.cpp b/src/sim/view_config.cpp
@@ -13,5 +13,5 @@ namespace view_config {
     double x_displace = 100;
     double y_displace = 50;
 
-    bool use_light_background = false;
+    bool use_light_mode = false;
 }
diff --git a/src/sim/view_config.h b/src/sim/view_config.h
@@ -12,5 +12,5 @@ namespace view_config {
     extern double x_displace;
     extern double y_displace;
 
-    extern bool use_light_background;
+    extern bool use_light_mode;
 }