X-Git-Url: https://www.fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=pi_referential.cc;h=267daea1a2d8d3f19b7a560b18400da9c58597a1;hb=325a05c3977006fb111b0ed80c82122d1c04fb33;hp=3fe7a27820ecbe101d3aa0d3cd6ec172bff09623;hpb=8236ef5635eda3f1532acc126ce0569d6bb8869e;p=folded-ctf.git

diff --git a/pi_referential.cc b/pi_referential.cc
index 3fe7a27..267daea 100644
--- a/pi_referential.cc
+++ b/pi_referential.cc
@@ -324,7 +324,6 @@ PiReferential::PiReferential(PoseCell *cell) {
 
   _body_xc = cell->_belly_xc.middle() * discrete_scale_ratio;
   _body_yc = cell->_belly_yc.middle() * discrete_scale_ratio;
-  _body_window_scaling = sqrt(_body_radius_1 * _body_radius_2);
 
   if((_head_xc - _body_xc) * cos(_body_tilt) + (_head_yc - _body_yc) * sin(_body_tilt) > 0) {
     _body_tilt += M_PI;
@@ -404,13 +403,11 @@ PiReferential::PiReferential(PoseCell *cell) {
 
   // Body frame
 
-  _body_ux =   cos(_body_tilt) * _body_radius_1 * 2.0;
-  _body_uy =   sin(_body_tilt) * _body_radius_1 * 2.0;
-  _body_vx = - sin(_body_tilt) * _body_radius_2 * 2.0;
-  _body_vy =   cos(_body_tilt) * _body_radius_2 * 2.0;
+//   _body_ux =   cos(_body_tilt) * _body_radius_1 * 2.0;
+//   _body_uy =   sin(_body_tilt) * _body_radius_1 * 2.0;
+//   _body_vx = - sin(_body_tilt) * _body_radius_2 * 2.0;
+//   _body_vy =   cos(_body_tilt) * _body_radius_2 * 2.0;
 
-  _body_edge_shift = int(floor(RichImage::nb_edge_tags * _body_tilt / (2 * M_PI) + 0.5));
-  _body_edge_shift = (RichImage::nb_edge_tags + _body_edge_shift) % RichImage::nb_edge_tags;
 }
 
 int PiReferential::common_scale() {