def update_waypoints(self):
self.wayPoints = []
bbox = self.imageMetadata["bbox"]
print(bbox)
imagesize = self.imageMetadata["size"]
list_wp = []
for i in range(len(self.wayPoints_lat_lon)):
geo_point = self.wayPoints_lat_lon[i]
point = ImageUtils.posCoords2Image(bbox[0], bbox[1], bbox[2],
bbox[3], geo_point[0],
geo_point[1], imagesize[0],
imagesize[1])
self.wayPoints.append(point)
def update_position(self):
if self.pose != None:
pose = self.getPose3D().getPose3D()
lat = pose.x
lon = pose.y
bbox = self.imageMetadata["bbox"]
self.limit_warning = GeoUtils.is_position_close_border(
lat, lon, bbox)
if self.limit_warning:
self.download_zoomed_map()
else:
bbox = self.imageMetadata["bbox"]
imagesize = self.imageMetadata["size"]
x, y = ImageUtils.posCoords2Image(bbox[0], bbox[1], bbox[2],
bbox[3], lat, lon,
imagesize[0], imagesize[1])
angle = self.sensorsWidget.quatToYaw(pose.q0, pose.q1, pose.q2,
pose.q3)
self.setPosition(x, y, angle)