From 066bf3eb0e68ae61dc2a759f293b8686a2350400 Mon Sep 17 00:00:00 2001 From: doomertheboomer Date: Sun, 30 Jul 2023 18:50:19 +0700 Subject: [PATCH] add depth perception --- depthrush/drs.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/depthrush/drs.cpp b/depthrush/drs.cpp index ed17e85..393892f 100644 --- a/depthrush/drs.cpp +++ b/depthrush/drs.cpp @@ -268,9 +268,9 @@ void pollKinect() { //std::cout << "Right Leg: X = " << rightLegPos.x << ", Y = " << rightLegPos.y << ", Z = " << rightLegPos.z << std::endl; feet[1].event.x = xGrad * leftLegPos.x + xOffset; - feet[1].event.y = 0.5; + feet[1].event.y = zGrad * leftLegPos.z + zOffset; feet[2].event.x = xGrad * rightLegPos.x + xOffset; - feet[2].event.y = 0.5; + feet[2].event.y = zGrad * rightLegPos.z + zOffset; // Fix feet height float fixedLeft = leftLegPos.y - (yGrad * leftLegPos.z + yOffset);