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ovgu-FINken / Simulation

FINken Mixed-Reality Simulation Framework
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implement local map #38

Closed gaetjen closed 8 years ago

gaetjen commented 8 years ago

copter stores pixel values that it sees in relative position, assuming terrain is static.

what to do, when input image is moving?

asemahassan commented 8 years ago

Copter stays at same position lets say center of the map, and sends signal to input image to change its direction and speed. Copter local map: A square/rectangle storing values from the input image whats passing under the color sensor. Update local map on every frame. But copter always stays at the center of its local map.

asemahassan commented 8 years ago

Set target position to the center of landscape. Set finken position also to the center of landscape. Create a 2D plane around the Finken and set it as child of Finken. Stop dynamic movement of Finken, set it to static. A UI to change the Size of container, and resolution. Store data of local map in a 2D Array, which contains RGB value as vector. Update this data per frame whenever the previous data is different from the current and map has moved forward virtual. Check how many steps finken has moved in a field, by checking map Speed (initially). Set the 1st column fields to nil and replace them with the filled column. And set the last column fields with nil and replace them with the lastColumn-1 fields data. Change copter back to the dynamic state, but check its behavior. It should stay at the center. When copter is dynamic, consider all directions he is moving and update array accordingly.