diff --git a/qt_pi/resources/playground.pgm b/qt_pi/resources/playground.pgm
deleted file mode 100644
index f4af84d..0000000
Binary files a/qt_pi/resources/playground.pgm and /dev/null differ
diff --git a/qt_pi/resources/resources.qrc b/qt_pi/resources/resources.qrc
index 4a04629..a8bbdea 100644
--- a/qt_pi/resources/resources.qrc
+++ b/qt_pi/resources/resources.qrc
@@ -4,6 +4,5 @@
shaders/blink.vert
shaders/map.vert
shaders/map.frag
- playground.pgm
diff --git a/qt_pi/src/speller.cpp b/qt_pi/src/speller.cpp
index c72630b..cf1aa35 100644
--- a/qt_pi/src/speller.cpp
+++ b/qt_pi/src/speller.cpp
@@ -66,24 +66,27 @@ void Speller::classify(int len, struct insight_data *buf) {
void Speller::reconfigure_map(int result, int shape) {
int w = area_displayed->width();
int h = area_displayed->height();
+ int x = area_displayed->x();
+ int y = area_displayed->y();
+
switch (shape) {
case SQUARE:
switch (result) {
case TOP_LEFT:
- area_displayed->setWidth(w / 1.9);
- area_displayed->setY(h * 0.9 / 1.9);
+ area_displayed->setWidth(w / 1.8);
+ area_displayed->setY(y + h / 1.8);
break;
case TOP_RIGHT:
- area_displayed->setX(w * 0.9 / 1.9);
- area_displayed->setY(h * 0.9 / 1.9);
+ area_displayed->setX(x + w / 1.8);
+ area_displayed->setY(y + h / 1.8);
break;
case BOTTOM_LEFT:
- area_displayed->setHeight(h / 1.9);
- area_displayed->setWidth(w / 1.9);
+ area_displayed->setHeight(h / 1.8);
+ area_displayed->setWidth(w / 1.8);
break;
case BOTTOM_RIGHT:
- area_displayed->setHeight(h / 1.9);
- area_displayed->setX(w * 0.9 / 1.9);
+ area_displayed->setHeight(h / 1.8);
+ area_displayed->setX(x + w / 1.8);
break;
}
break;
@@ -91,11 +94,11 @@ void Speller::reconfigure_map(int result, int shape) {
switch (result) {
case TOP_LEFT:
case BOTTOM_LEFT:
- area_displayed->setWidth(w / 1.9);
+ area_displayed->setWidth(w / 1.8);
break;
case TOP_RIGHT:
case BOTTOM_RIGHT:
- area_displayed->setX(w * 0.9 / 1.9);
+ area_displayed->setX(x + w / 1.8);
break;
}
break;
@@ -103,11 +106,11 @@ void Speller::reconfigure_map(int result, int shape) {
switch (result) {
case TOP_LEFT:
case TOP_RIGHT:
- area_displayed->setY(h * 0.9 / 1.9);
+ area_displayed->setY(h + h / 1.8);
break;
case BOTTOM_LEFT:
case BOTTOM_RIGHT:
- area_displayed->setHeight(h / 1.9);
+ area_displayed->setHeight(h / 1.8);
break;
}
break;
@@ -190,8 +193,7 @@ __inline__ void Speller::init_ros() {
}
curr_map = new QImage(map_tex_buffer, map.info.width, map.info.height,
3 * map.info.width, QImage::Format_RGB888);
- area_displayed = new QRect(QPoint(0, 0), QSize(curr_map->size().height() / 2,
- curr_map->size().width()));
+ area_displayed = new QRect(QPoint(0, 0), curr_map->size());
}
void Speller::poseCB(nav_msgs::Odometry::ConstPtr &msg) {