{"id":726,"date":"2016-12-01T16:30:48","date_gmt":"2016-12-02T01:30:48","guid":{"rendered":"\/blog\/?p=726"},"modified":"2023-09-21T09:37:51","modified_gmt":"2023-09-21T00:37:51","slug":"kalman-filter-%ec%98%88%ec%a0%9c-%ec%86%8c%ec%8a%a4%ec%bd%94%eb%93%9c","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=726","title":{"rendered":"Kalman Filter \uc608\uc81c \uc18c\uc2a4\ucf54\ub4dc"},"content":{"rendered":"\n

\ucd9c\ucc98 : http:\/\/blog.naver.com\/housemoon\/96039559<\/a><\/span><\/p>\r\n\r\n<\/span>


<\/p>\r\n\r\n<\/span>

\/\/ \uc81c \ubaa9: RS232 \ud1b5\uc2e0 \ud504\ub85c\uadf8\ub7a8<\/span>\r\n\r\n\r\n<\/span>\/\/ \uc9c1\ub82c\ud3ec\ud2b8\ub97c \uc774\uc6a9\ud558\uc5ec \ub370\uc774\ud0c0 \ud1b5\uc2e0\ud558\ub294<\/span>\r\n<\/span>\/\/ \uc77c\ubc18\uc801\uc778 \uc21c\uc11c<\/span>\r\n<\/span>\/\/ (1) \uc9c1\ub82c\ud3ec\ud2b8\ub97c \uc5f0\ub2e4(open)<\/span>\r\n<\/span>\/\/ (2) \uc9c1\ub82c\ud3ec\ud2b8\uc758 \uac01\uc885 \uc124\uc815\uac12\uc744 \ubcc0\uacbd\ud55c\ub2e4<\/span>\r\n<\/span>\/\/ (3) \uc77d\uae30\uc640 \uc4f0\uae30 \ud0c0\uc784\uc544\uc6c3\uc744 \uc124\uc815\ud55c\ub2e4<\/span>\r\n<\/span>\/\/ (4) \uc9c1\ub82c\ud3ec\ud2b8\ub85c\ubd80\ud130 \ub370\uc774\ud0c0\ub97c \uc77d\uac70(read)\ub098 \uc4f4\ub2e4(write)<\/span>\r\n<\/span>\/\/ (5) \uc9c1\ub82c\ud3ec\ud2b8\ub97c \ub2eb\ub294\ub2e4(close)<\/span>\r\n\r\n<\/span>\/\/ * (1),(4),(5)\ub294 \ud30c\uc77c \uc785\ucd9c\ub825 \ubaa8\ub378\uacfc \uac1c\ub150\uc801\uc744 \ub3d9\uc77c\ud558\uba70,<\/span>\r\n<\/span>\/\/   \ud30c\uc77c\uc785\ucd9c\ub825 \ud568\uc218\ub97c \uadf8\ub300\ub85c \uc0ac\uc6a9\ud568<\/span>\r\n<\/span>\/\/ * (2),(3)\uc740 \uc9c1\ub82c\ud1b5\uc2e0\uc5d0\ub9cc \ud574\ub2f9\ud558\uba70, \uc9c1\ub82c\ud1b5\uc2e0\uc744 \uc704\ud55c \uc804\uc6a9\ud568\uc218\ub97c \uc0ac\uc6a9\ud568<\/span>\r\n\r\n\r\n#<\/span>include<\/span> <\/span><windows.h><\/span>\r\n#<\/span>include<\/span> <\/span><stdlib.h><\/span>\r\n#<\/span>include<\/span> <\/span><stdio.h><\/span>\r\n#<\/span>include<\/span> <\/span><math.h><\/span>\r\n#<\/span>include<\/span> <\/span><iostream><\/span>\r\n#<\/span>include<\/span> <\/span><time.h><\/span> <\/span>\/\/\ub79c\ub364 \ud568\uc218\ub97c \uc704\ud574.<\/span>\r\n#<\/span>include<\/span> <\/span><GL\/glut.h><\/span>\r\n#<\/span>include<\/span> <\/span><GL\/glu.h><\/span>\r\n#<\/span>include<\/span> <\/span><GL\/glaux.h><\/span>\r\n\r\n\r\n<\/span>\/\/---[ pi \uac12 \uc124\uc815 ]<\/span>\r\n#<\/span>define<\/span> <\/span>PI<\/span> 3.141592\r\n\r\n<\/span>\/\/---[ \ubc84\ud37c\uc0ac\uc774\uc988 \uc124\uc815 ]<\/span>\r\n#<\/span>define<\/span> <\/span>BUFSIZE<\/span> 22\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ \uc804\uc5f0\ubcc0\uc218 \uc120\uc5b8\ubd80<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ main<\/span>\r\n<\/span>int<\/span> counter = <\/span>1<\/span>;\r\n<\/span>int<\/span> TenSec = <\/span>0<\/span>;                 <\/span>\/\/ 120Hz\uc774\ubbc0\ub85c 10\ucd08\uc778 1200\ud68c\ub97c \uc218\ud589\ud558\ub3c4\ub85d \ud558\uae30 \uc704\ud55c \uc778\ub371\uc2a4 \ubcc0\uc218<\/span>\r\n<\/span>double<\/span> Voltage = <\/span>3.3<\/span>;           <\/span>\/\/ \ub2e8\uc704 : V<\/span>\r\n<\/span>double<\/span> Resolution = <\/span>1024<\/span>;       <\/span>\/\/ \ubd84\ud574\ub2a5 = 2^10<\/span>\r\n<\/span>double<\/span> dt = <\/span>1<\/span> \/ <\/span>20<\/span>;             <\/span>\/\/ \uc2dc\uac04 \uac04\uaca9.<\/span>\r\n<\/span>double<\/span> Final_Pitch = <\/span>0<\/span>;\r\n<\/span>double<\/span> Final_Roll = <\/span>0<\/span>;\r\n<\/span>\/\/ Gyro<\/span>\r\n<\/span>double<\/span> Gyro_sens = <\/span>0.002<\/span>;                               <\/span>\/\/ \ub2e8\uc704 : V\/degrees\/sec<\/span>\r\n<\/span>double<\/span> Scalefactor = Voltage \/ Resolution \/ Gyro_sens;  <\/span>\/\/ \ub300\ub7b5 1.611328<\/span>\r\n\r\n<\/span>\/\/ For Accel<\/span>\r\n<\/span>double<\/span> Accel_sens = <\/span>0.8<\/span>;                <\/span>\/\/ \ub2e8\uc704 : V\/g   \/\/ 1.5g \uc774\uae30 \ub54c\ubb38\uc5d0<\/span>\r\n<\/span>double<\/span> unit = Voltage \/ Resolution;     <\/span>\/\/ \ub300\ub7b5 3.222656mV\/bit<\/span>\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/---[ \ub370\uc774\ud130 \ud1b5\uc2e0\uc5d0 \uc0ac\uc6a9\ud560 \ubcc0\uc218 ]<\/span>\r\n<\/span>unsigned<\/span> <\/span>char<\/span> buf[BUFSIZE + <\/span>1<\/span>];\r\nDWORD BytesRead;\r\n<\/span>int<\/span> retval;\r\nHANDLE hComm;\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ OpenGL\uc6a9 \ubcc0\uc218<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\nGLfloat xrot = <\/span>0.9f<\/span>, yrot = <\/span>0.8f<\/span>, zrot = <\/span>1.0f<\/span>;\r\n<\/span>unsigned<\/span> <\/span>int<\/span> MyTextureObject[<\/span>1<\/span>];\r\nAUX_RGBImageRec *pTextureImage[<\/span>1<\/span>];                      <\/span>\/\/\ud14d\uc2a4\uccd0 \uc800\uc7a5 \uacf5\uac04\uc744 \uac00\ub9ac\ud0a4\ub294 \ud3ec\uc778\ud130<\/span>\r\nGLdouble theta[] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };    <\/span>\/\/ \ud68c\uc804\uc744 \uc704\ud55c \ubc30\uc5f4, \ucd08\uae30\ud654 \uac01\uac01(x, y, z\ucd95\uc744 \ub098\ud0c0\ub0c4)<\/span>\r\n<\/span>static<\/span> GLint SpinCon = <\/span>0<\/span>;                               <\/span>\/\/  \ud68c\uc804\uc2dc\uc5d0 \ud68c\uc804 \uac12\uc744 \ubc1b\ub294 \ubc30\uc5f4\uc548\uc758 \uac12\uc774 float \uac12\uc744 \ub118\ub294\uac83\uc744 \ubc29\uc9c0 \ud558\ub294 \ubcc0\uc218<\/span>\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ \uad6c\uc870\uccb4<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/IMU struct<\/span>\r\n<\/span>struct<\/span> <\/span>IMU<\/span> {\r\n    int packet[10];             \/\/ main\uc5d0\uc11c \uc13c\uc11c\uc5d0\uc11c \uac12 \ubc1b\uc544\uc624\ub294 \ubc30\uc5f4 \ubcc0\uc218\r\n\r\n    int Gyro_offset_sum[3];     \/\/ Gyro\uc758 offset\uc758 10\ucd08\uac04\uc758 ADC \uac12\uc758 \ud569\uc744 \uc800\uc7a5\ud558\uae30 \uc704\ud55c \ubcc0\uc218\r\n    int Accel_offset_sum[3];    \/\/ Accel\uc758 offset\uc758 10\ucd08\uac04\uc758 ADC \uac12\uc758 \ud569\uc744 \uc800\uc7a5\ud558\uae30 \uc704\ud55c \ubcc0\uc218\r\n\r\n    double  Gyro_offset_avg[3];     \/\/ Gyro\uc758 offset\uc758 \ud3c9\uade0\uac12\r\n    double  Accel_offset_avg[3];    \/\/ Accel\uc758 offset\uc758 \ud3c9\uade0\uac12\r\n\r\n    double  pitch_vel[4];           \/\/ velocity = \uac01\uc18d\ub3c4\r\n    double  roll_vel[4];            \/\/ pitch, roll, yaw\uc758 \uc801\ubd84\uc744 \ud558\uae30 \uc704\ud574 \ucd5c\uadfc 4\uac1c \uac12\uc744 \uc800\uc7a5\ud558\uae30 \uc704\ud55c \ubc30\uc5f4\r\n    double  yaw_vel[4];\r\n\r\n    double  G_pitch;        \/\/ \uc790\uc774\ub85c \uc13c\uc11c\ub97c \uc774\uc6a9\ud574 \uad6c\ud55c \uac01\uc18d\ub3c4\ub97c \uc801\ubd84\ud558\uc5ec \uc5bb\uc740 \uac01\ub3c4 (degree)\r\n    double  G_roll;\r\n    double  G_yaw;\r\n\r\n    double  A_pitch;        \/\/ \uac00\uc18d\ub3c4 \uc13c\uc11c\ub97c \uc774\uc6a9\ud574 \uc5bb\uc740 \uac01\ub3c4 (degree)\r\n    double  A_roll;\r\n    double  A_yaw;\r\n\r\n    double  LK_pitch;       \/\/ \uce7c\ub9cc \ud544\ud130 \ud6c4 \ucd5c\uc885 \ubcf4\uc815\ub41c \uac01\ub3c4 (degree)\r\n    double  LK_roll;\r\n    double  LK_yaw;\r\n};\r\n\r\n<\/span>\/\/ Kalman Struct<\/span>\r\n<\/span>struct<\/span> <\/span>Gyro1DKalman<\/span> {\r\n    \/\/ matrix x\uc758 \uc0c1\ud0dc\ub97c \ub098\ud0c0\ub0b8\ub2e4.\r\n    double  x_angle;        \/\/ x_angle : \ucd5c\uc885 \ubcf4\uc815 \uac01\r\n    double  x_bias;         \/\/ x_bias : \ubc14\uc774\uc5b4\uc2a4\r\n\r\n    \/\/ \uc624\ucc28 \uacf5\ubd84\uc0b0\r\n    double  P_00, P_01, P_10, P_11;\r\n\r\n    \/\/ Q \uc7a1\uc74c\r\n    double  Q_angle, Q_gyro;\r\n\r\n    \/\/ R \uc7a1\uc74c\r\n    double  R_angle;\r\n};\r\n\r\n\r\n<\/span>\/\/---\ub9ac\ub2c8\uc5b4 \uce7c\ub9cc\ud544\ud130\ub97c \uc704\ud55c \ucd08\uae30\ud654<\/span>\r\n<\/span>\/\/ Filter_roll_1 = IMU1 \/ Filter_roll_2 = IMU2 \/ Filter_roll_3 = IMU3 \uacfc \uc5f0\uc0b0<\/span>\r\n<\/span>\/\/\uc21c\uc11c : x_angle, x_bias, P_00, P_01, P_10, P_11, Q_angle, Q_gyro, R_angle<\/span>\r\n\r\n<\/span>struct<\/span> <\/span>Gyro1DKalman<\/span> filter_roll_1 = { 0, 0, 1, 0, 0, 1, 0.0001, 0.0003, 0.01 };\r\n<\/span>struct<\/span> <\/span>Gyro1DKalman<\/span> filter_roll_2 = { 0, 0, 1, 0, 0, 1, 0.0001, 0.0003, 0.01 };\r\n<\/span>struct<\/span> <\/span>Gyro1DKalman<\/span> filter_roll_3 = { 0, 0, 1, 0, 0, 1, 0.0001, 0.0003, 0.01 };\r\n\r\n<\/span>\/\/ IMU \uad6c\uc870\uccb4 3\uac1c \ucd08\uae30\ud654<\/span>\r\n<\/span>struct<\/span> <\/span>IMU<\/span> IMU1 = { { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, 0, 0, 0, 0, 0, 0, 0, 0, 0 };\r\n<\/span>struct<\/span> <\/span>IMU<\/span> IMU2 = { { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, 0, 0, 0, 0, 0, 0, 0, 0, 0 };\r\n<\/span>struct<\/span> <\/span>IMU<\/span> IMU3 = { { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, { 0 }, 0, 0, 0, 0, 0, 0, 0, 0, 0 };\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : OpenGL\uc6a9 \ud568\uc218<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : \ud654\uba74\uc5d0 Draw\ud558\ub294 \ud568\uc218\ub4e4<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : \uba54\uc138\uc9c0\uc708\ub3c4\uc6b0\uc758 \ud0c0\uc774\ud2c0 \ubb38\uc790\uc5f4 \ud3ec\uc778\ud130<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : \uc5c6 \uc74c<\/span>\r\n<\/span>void<\/span> <\/span>InitVisibility<\/span>( )\r\n{\r\n    glEnable(GL_CULL_FACE);     \/\/ \ud6c4\uba74\uc81c\uac70\r\n    glFrontFace(GL_CW);\r\n    glCullFace(GL_BACK);\r\n    glEnable(GL_DEPTH_TEST);    \/\/ \uc740\uba74\uc81c\uac70\r\n}\r\n\r\n<\/span>void<\/span> <\/span>MyReshape<\/span>(int w, int h)\r\n{\r\n    glViewport(0, 0, w, h);\r\n    glMatrixMode(GL_PROJECTION);\r\n    glLoadIdentity();\r\n    gluPerspective(40.0, (GLfloat)w \/ (GLfloat)h, 1.0, 100.0);\r\n    glMatrixMode(GL_MODELVIEW);\r\n    glLoadIdentity();\r\n    gluLookAt(0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);\r\n}\r\n\r\n<\/span>void<\/span> <\/span>MyDisplay<\/span>( )\r\n{\r\n    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);\r\n    glBindTexture(GL_TEXTURE_2D, MyTextureObject[0]);\r\n    glBegin(GL_QUADS);\r\n    glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f, -1.0f, 0.2f);   \/\/\uc55e\uba74\r\n    glTexCoord2f(1.0f, 0.0f); glVertex3f(1.0f, -1.0f, 0.2f);\r\n    glTexCoord2f(1.0f, 1.0f); glVertex3f(1.0f, 1.0f, 0.2f);\r\n    glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f, 1.0f, 0.2f);\r\n    glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -1.0f, -0.2f);  \/\/\ub4b7\uba74\r\n    glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f, 1.0f, -0.2f);\r\n    glTexCoord2f(0.0f, 1.0f); glVertex3f(1.0f, 1.0f, -0.2f);\r\n    glTexCoord2f(0.0f, 0.0f); glVertex3f(1.0f, -1.0f, -0.2f);\r\n    glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f, 1.0f, -0.2f);   \/\/\uc717\uba74\r\n    glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f, 1.0f, 0.2f);\r\n    glTexCoord2f(1.0f, 0.0f); glVertex3f(1.0f, 1.0f, 0.2f);\r\n    glTexCoord2f(1.0f, 1.0f); glVertex3f(1.0f, 1.0f, -0.2f);\r\n    glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f, -1.0f, -0.2f);  \/\/\uc544\ub7ab\uba74\r\n    glTexCoord2f(0.0f, 1.0f); glVertex3f(1.0f, -1.0f, -0.2f);\r\n    glTexCoord2f(0.0f, 0.0f); glVertex3f(1.0f, -1.0f, 0.2f);\r\n    glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -1.0f, 0.2f);\r\n    glTexCoord2f(1.0f, 0.0f); glVertex3f(1.0f, -1.0f, -0.2f);   \/\/\uc6b0\uce21\uba74\r\n    glTexCoord2f(1.0f, 1.0f); glVertex3f(1.0f, 1.0f, -0.2f);\r\n    glTexCoord2f(0.0f, 1.0f); glVertex3f(1.0f, 1.0f, 0.2f);\r\n    glTexCoord2f(0.0f, 0.0f); glVertex3f(1.0f, -1.0f, 0.2f);\r\n    glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f, -1.0f, -0.2f);  \/\/\uc88c\uce21\uba74\r\n    glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -1.0f, 0.2f);\r\n    glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f, 1.0f, 0.2f);\r\n    glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f, 1.0f, -0.2f);\r\n    \/*\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f, -0.2f,  1.0f);  \/\/\uc55e\uba74\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f( 1.0f, -0.2f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f( 1.0f,  0.2f,  1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f,  0.2f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -0.2f, -1.0f);  \/\/\ub4b7\uba74\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f,  0.2f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f( 1.0f,  0.2f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f( 1.0f, -0.2f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f,  0.2f, -1.0f);  \/\/\uc717\uba74\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f,  0.2f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f( 1.0f,  0.2f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f( 1.0f,  0.2f, -1.0f);\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f, -0.2f, -1.0f);  \/\/\uc544\ub7ab\uba74\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f( 1.0f, -0.2f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f( 1.0f, -0.2f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -0.2f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f( 1.0f, -0.2f, -1.0f);  \/\/\uc6b0\uce21\uba74\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f( 1.0f,  0.2f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f( 1.0f,  0.2f,  1.0f);\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f( 1.0f, -0.2f,  1.0f);\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f, -0.2f, -1.0f);  \/\/\uc88c\uce21\uba74\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -0.2f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f,  0.2f,  1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f,  0.2f, -1.0f);\r\n     *\r\n     *\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f, -1.0f,  1.0f);  \/\/\uc55e\uba74\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f( 1.0f, -1.0f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f( 1.0f,  1.0f,  1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f,  1.0f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -1.0f, -1.0f);  \/\/\ub4b7\uba74\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f,  1.0f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f( 1.0f,  1.0f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f( 1.0f, -1.0f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f,  1.0f, -1.0f);  \/\/\uc717\uba74\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f,  1.0f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f( 1.0f,  1.0f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f( 1.0f,  1.0f, -1.0f);\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f, -1.0f, -1.0f);  \/\/\uc544\ub7ab\uba74\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f( 1.0f, -1.0f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f( 1.0f, -1.0f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -1.0f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f( 1.0f, -1.0f, -1.0f);  \/\/\uc6b0\uce21\uba74\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f( 1.0f,  1.0f, -1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f( 1.0f,  1.0f,  1.0f);\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f( 1.0f, -1.0f,  1.0f);\r\n     *  glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f, -1.0f, -1.0f);  \/\/\uc88c\uce21\uba74\r\n     *  glTexCoord2f(1.0f, 0.0f); glVertex3f(-1.0f, -1.0f,  1.0f);\r\n     *  glTexCoord2f(1.0f, 1.0f); glVertex3f(-1.0f,  1.0f,  1.0f);\r\n     *  glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f,  1.0f, -1.0f);\r\n     *\/\r\n    glEnd();\r\n    glutSwapBuffers();\r\n}\r\n\r\nAUX_RGBImageRec *<\/span>LoadBMP<\/span>(char *szFilename)\r\n{\r\n    FILE *pFile = NULL;\r\n\r\n    if (!szFilename)\r\n        return NULL;\r\n    pFile = fopen(szFilename, \"r\");\r\n\r\n    if (pFile) {\r\n        fclose(pFile);\r\n        return auxDIBImageLoad(szFilename); \/\/\ud30c\uc77c\ub85c\ubd80\ud130 \uba54\ubaa8\ub9ac\ub85c\r\n    }\r\n    return NULL;\r\n}\r\n\r\n\r\n<\/span>int<\/span> <\/span>LoadGLTextures<\/span>(char *szFilePath)         <\/span>\/\/\ud30c\uc77c\uc744 \ub85c\ub4dc\ud558\uace0 \ud14d\uc2a4\uccd0\ub85c \ubcc0\ud658<\/span>\r\n{\r\n    int Status = FALSE;\r\n\r\n    glClearColor(0.0, 0.0, 0.0, 0.5);\r\n    memset(pTextureImage, 0, sizeof(void *) * 1);  \/\/\ud3ec\uc778\ud130\ub97c \ub110\ub85c\r\n    \/\/\ube44\ud2b8\ub9f5\uc744 \ub85c\ub4dc\ud558\uace0 \uc624\ub958\ud655\uc778\r\n    if (pTextureImage[0] = LoadBMP(szFilePath)) {\r\n        Status = TRUE;                          \/\/\uc0c1\ud0dc \ud50c\ub799\uc744 True\ub85c\r\n        glGenTextures(1, &MyTextureObject[0]);  \/\/\ud14d\uc2a4\uccd0 \uc0dd\uc131\r\n        glBindTexture(GL_TEXTURE_2D, MyTextureObject[0]);\r\n        glTexImage2D(GL_TEXTURE_2D, 0, 3, pTextureImage[0]->sizeX, pTextureImage[0]->sizeY,\r\n                 0, GL_RGB, GL_UNSIGNED_BYTE, pTextureImage[0]->data);\r\n        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);\r\n        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);\r\n        glEnable(GL_TEXTURE_2D);\r\n    }\r\n    if (pTextureImage[0]) {                         \/\/\ud14d\uc2a4\uccd0\uac00 \uc874\uc7ac\ud558\uba74\r\n        if (pTextureImage[0]->data)             \/\/\ud14d\uc2a4\uccd0 \uc601\uc0c1\uc774 \uc874\uc7ac\ud558\uba74\r\n            free(pTextureImage[0]->data);   \/\/\ud14d\uc2a4\uccd0 \uc601\uc0c1\uacf5\uac04 \ubc18\ub0a9\r\n        free(pTextureImage[0]);                 \/\/\ud14d\uc2a4\uccd0 \ubc18\ub0a9\r\n    }\r\n    return Status;\r\n}\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : err_quit()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : \uc5d0\ub7ec \ubc1c\uc0dd\uc2dc \uba54\uc138\uc9c0\ub85c \uc54c\ub824\uc90c<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : \uba54\uc138\uc9c0\uc708\ub3c4\uc6b0\uc758 \ud0c0\uc774\ud2c0 \ubb38\uc790\uc5f4 \ud3ec\uc778\ud130<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : \uc5c6 \uc74c<\/span>\r\n\r\n<\/span>void<\/span> <\/span>err_quit<\/span>(char *msg)\r\n{\r\n    LPVOID lpMsgBuf;\r\n\r\n    FormatMessage(\r\n        FORMAT_MESSAGE_ALLOCATE_BUFFER |\r\n        FORMAT_MESSAGE_FROM_SYSTEM,\r\n        NULL, GetLastError(),\r\n        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),\r\n        (LPTSTR)&lpMsgBuf, 0, NULL);\r\n    MessageBox(NULL, (LPCTSTR)lpMsgBuf, msg, MB_ICONERROR);\r\n    LocalFree(lpMsgBuf);\r\n    exit(-1);\r\n}\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : Accel()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : Accelometer x,y,z \uac12\uc73c\ub85c \uac01\ub3c4\ub97c \uc5bb\uc5b4\ub0c4<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : Accelometer \uc13c\uc11c\ub97c \ud1b5\ud558\uc5ec x,y,z \uac01\uac01\uc758 \uac00\uc18d\ub3c4 \uac12<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : IMU \uad6c\uc870\uccb4<\/span>\r\n<\/span>struct<\/span> <\/span>IMU<\/span> Accel(<\/span>struct<\/span> <\/span>IMU<\/span> temp)\r\n{\r\n    double Ax = (temp<\/span>.packet<\/span>[4] - temp<\/span>.Accel_offset_avg<\/span>[0]) \/ Accel_sens;\r\n    double Ay = (temp<\/span>.packet<\/span>[5] - temp<\/span>.Accel_offset_avg<\/span>[1]) \/ Accel_sens;\r\n    double Az = (temp<\/span>.packet<\/span>[6] - temp<\/span>.Accel_offset_avg<\/span>[2]) \/ Accel_sens;\r\n\r\n\/\/    temp<\/span>.A_pitch<\/span> =<\/span>atan2<\/span>(-Az , Ax) * (180 \/ PI) * 2;\r\n\/\/    temp<\/span>.A_roll<\/span> = atan2(-Az , Ay) * (180 \/ PI) * 2;\r\n\r\n\/\/    temp<\/span>.A_pitch<\/span> = atan(-Az\/Ax) * (180 \/ PI) * 2;\r\n    temp<\/span>.A_roll<\/span> = atan(-Az \/ Ay) * (180 \/ PI) * 2;\r\n\r\n    \/\/ \uc5ec\uae30\uae4c\uc9c0 \ud558\uba74 0~360\uc758 \ubc94\uc704\ub85c \ucd9c\ub825\ub418\uc9c0\ub9cc Gyro\uc13c\uc11c\uc640 \ud1b5\uc77c\ud558\uae30 \uc704\ud574 \uc57d\uac04\uc758 \uc870\uc815\r\n\r\n    if (temp<\/span>.A_pitch<\/span> > 180 && temp<\/span>.A_pitch<\/span> <= 360)\r\n        temp<\/span>.A_pitch<\/span> = -(360 - temp<\/span>.A_pitch<\/span>);\r\n\r\n    if (temp<\/span>.A_roll<\/span> > 180 && temp<\/span>.A_roll<\/span> <= 360)\r\n        temp<\/span>.A_roll<\/span> = -(360 - temp<\/span>.A_roll<\/span>);\r\n\r\n    printf(\"Accel_Roll : %f \\n\", temp<\/span>.A_roll<\/span>);\r\n\r\n    return temp;\r\n}\r\n\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : Gyro()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : Gyro pitch, roll, yaw \uac12\uc73c\ub85c \uac01\ub3c4\ub97c \uc5bb\uc5b4\ub0c4<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : Gyro \uc13c\uc11c\ub97c \ud1b5\ud558\uc5ec pitch, roll yaw \uac01\uac01\uc758 \uc774\uc804\uac12\uacfc \ud604\uc7ac\uac12<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : IMU \uad6c\uc870\uccb4<\/span>\r\n<\/span>struct<\/span> <\/span>IMU<\/span> Gyro(<\/span>struct<\/span> <\/span>IMU<\/span> temp)\r\n{\r\n    \/\/ \ub791\uac8c\ucfe0\ud0c0 \uc801\ubd84\uc744 \uc801\uc6a9\ud558\uae30 \uc704\ud574 \ucd5c\uadfc,\uc774\uc8043\uac1c \uac12\uc744 \ubc30\uc5f4\uc5d0 \uc800\uc7a5\ud558\uae30 \uc704\ud55c for\ubb38\r\n    for (int i = 0; i < 3; i++) {\r\n        temp<\/span>.pitch_vel<\/span>[i] = temp<\/span>.pitch_vel<\/span>[i + 1];\r\n        temp<\/span>.roll_vel<\/span>[i] = temp<\/span>.roll_vel<\/span>[i + 1];\r\n        temp<\/span>.yaw_vel<\/span>[i] = temp<\/span>.yaw_vel<\/span>[i + 1];\r\n    }\r\n    \/\/ pitch, roll, yaw\uc758 \uac01\uc18d\ub3c4 \ubf51\uc544\ub0b4\uc11c \uac01 velocity [3]\uc5d0 \uc800\uc7a5\r\n    temp<\/span>.pitch_vel<\/span>[3] = ((double)temp<\/span>.packet<\/span>[7] - temp<\/span>.Gyro_offset_avg<\/span>[0]) * Scalefactor;   \/\/ scalefactor = 1.611328 deg\/~\r\n    temp<\/span>.roll_vel<\/span>[3] = ((double)temp<\/span>.packet<\/span>[8] - temp<\/span>.Gyro_offset_avg<\/span>[1]) * Scalefactor;    \/\/ (3300mV\/1024bit) \/ (2.0mV\/degrees\/second)\r\n    temp<\/span>.yaw_vel<\/span>[3] = ((double)temp<\/span>.packet<\/span>[9] - temp<\/span>.Gyro_offset_avg<\/span>[2]) * Scalefactor;\r\n\r\n    \/\/ \uac01\uc18d\ub3c4\ub4e4\uc744 \uc801\ubd84 (\ub791\uac8c\ucfe0\ud0c0 \uc801\ubd84\ubc95 \uc0ac\uc6a9)\r\n    \/\/ pitch\uc640 roll\uc758 \uac12\uc774 \ubc14\ub00c\uae30 \ub54c\ubb38\uc5d0 \uc5ec\uae30\uc11c \ub450\uac1c\ub97c \ubc14\uafd4\uc11c \uc801\uc6a9\r\n    \/\/ +\uc640 -\ub97c \ubc29\ud5a5\uc744 \ub4a4\uc9d1\uae30 \uc704\ud574 \ub354\ud574\uc8fc\ub294 \uac83\uc774 \uc544\ub2c8\ub77c -= \uc73c\ub85c \uc801\uc6a9\r\n\r\n    temp<\/span>.G_pitch<\/span> -= ((temp<\/span>.roll_vel<\/span>[0] + 2 * temp<\/span>.roll_vel<\/span>[1] + 2 * temp<\/span>.roll_vel<\/span>[2] + temp<\/span>.roll_vel<\/span>[3]) \/ 6) \/ 20;\r\n    temp<\/span>.G_roll<\/span> -= ((temp<\/span>.pitch_vel<\/span>[0] + 2 * temp<\/span>.pitch_vel<\/span>[1] + 2 * temp<\/span>.pitch_vel<\/span>[2] + temp<\/span>.pitch_vel<\/span>[3]) \/ 6) \/ 20;\r\n    temp<\/span>.G_yaw<\/span> -= ((temp<\/span>.yaw_vel<\/span>[0] + 2 * temp<\/span>.yaw_vel<\/span>[1] + 2 * temp<\/span>.yaw_vel<\/span>[2] + temp<\/span>.yaw_vel<\/span>[3]) \/ 6) \/ 20;\r\n\r\n    printf(\"Gyro_Roll : %f \\n\", temp<\/span>.G_roll<\/span>);\r\n\r\n    return temp;\r\n}\r\n\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : Update1()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : \uc2dc\uac04 \uac31\uc2e0(Predict), \uc790\uc774\ub85c \uc13c\uc11c \uac12 \uc0ac\uc6a9<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : Kalman \uad6c\uc870\uccb4\uc640 dotAngle(\uc790\uc774\ub85c \uc13c\uc11c\ub85c \uc5bb\uc740 \uac01-pitch or roll)<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : \uc5c6 \uc74c<\/span>\r\n<\/span>void<\/span> <\/span>Update1<\/span>(struct Gyro1DKalman filterdata, const double dotAngle, const double dt)\r\n{\r\n    filterdata<\/span>.x_angle<\/span> += dt * (dotAngle - filterdata<\/span>.x_bias<\/span>);\r\n    filterdata<\/span>.x_bias<\/span> += 0.014;\r\n\r\n    filterdata<\/span>.P_00<\/span> += -dt * (filterdata<\/span>.P_10<\/span> + filterdata<\/span>.P_01<\/span>) + filterdata<\/span>.Q_angle<\/span> * dt;\r\n    filterdata<\/span>.P_01<\/span> += -dt * filterdata<\/span>.P_11<\/span>;\r\n    filterdata<\/span>.P_10<\/span> += -dt * filterdata<\/span>.P_11<\/span>;\r\n    filterdata<\/span>.P_11<\/span> += +filterdata<\/span>.Q_gyro<\/span> * dt;\r\n}\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : Update2()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : Measurement Update - \uce7c\ub9cc\uc774\ub4dd \uacc4\uc0b0 \ud6c4 \uacf5\ubd84\uc0b0 \uc5c5\ub370\uc774\ud2b8<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : Kalman \uad6c\uc870\uccb4\uc640 dotAngle(\uac00\uc18d\ub3c4 \uc13c\uc11c\ub85c \uc5bb\uc740 \uac01-pitch or roll)<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : \ubcf4\uc815 \ud6c4\uc758 \uac01\uc744 \ub9ac\ud134<\/span>\r\n<\/span>double<\/span> <\/span>Update2<\/span>(struct Gyro1DKalman filterdata, const double Accel_x_y_z)\r\n{\r\n    const double y = Accel_x_y_z - filterdata<\/span>.x_angle<\/span>;\r\n    const double S = filterdata<\/span>.P_00<\/span> + filterdata<\/span>.R_angle<\/span>;\r\n    const double K_0 = filterdata<\/span>.P_00<\/span> \/ S;\r\n    const double K_1 = filterdata<\/span>.P_10<\/span> \/ S;\r\n\r\n    filterdata<\/span>.x_angle<\/span> += K_0 * y;\r\n    filterdata<\/span>.x_bias<\/span> += K_1 * y;\r\n\r\n    filterdata<\/span>.P_00<\/span> -= K_0 * filterdata<\/span>.P_00<\/span>;\r\n    filterdata<\/span>.P_01<\/span> -= K_0 * filterdata<\/span>.P_01<\/span>;\r\n    filterdata<\/span>.P_10<\/span> -= K_1 * filterdata<\/span>.P_00<\/span>;\r\n    filterdata<\/span>.P_11<\/span> -= K_0 * filterdata<\/span>.P_01<\/span>;\r\n\r\n    return filterdata<\/span>.x_angle<\/span>;\r\n}\r\n\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : NoiseFunc()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : \ubc1b\uc740 \uac12\uc5d0 \ub178\uc774\uc988 \uc81c\uacf5 ( \ub178\uc774\uc988 \ucd5c\ub300: +10 \ucd5c\uc800:-10)<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : \uc6d0\ubcf8\uc778 IMU1\uc5d0\uc11c \uc5bb\uc740 \uac12, \ubcc0\ud658\ub420 IMU2 or IMU3<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : IMU2 or IMU3 \uad6c\uc870\uccb4 \uc804\uccb4\ub97c \ub9ac\ud134<\/span>\r\n<\/span>struct<\/span> <\/span>IMU<\/span> NoiseFunc(<\/span>int<\/span> *originalP, <\/span>struct<\/span> <\/span>IMU<\/span> temp)\r\n{\r\n    temp<\/span>.packet<\/span>[0] = originalP[0];                          \/\/counter\r\n    temp<\/span>.packet<\/span>[1] = originalP[1] + ((<\/span>rand<\/span>() % 20) - 10);   \/\/mag\r\n    temp<\/span>.packet<\/span>[2] = originalP[2] + ((<\/span>rand<\/span>() % 20) - 10);\r\n    temp<\/span>.packet<\/span>[3] = originalP[3] + ((<\/span>rand<\/span>() % 20) - 10);\r\n    temp<\/span>.packet<\/span>[4] = originalP[4] + ((<\/span>rand<\/span>() % 4) - 2);\/\/acc\r\n    temp<\/span>.packet<\/span>[5] = originalP[5] + ((<\/span>rand<\/span>() % 4) - 2);\r\n    temp<\/span>.packet<\/span>[6] = originalP[6] + ((<\/span>rand<\/span>() % 4) - 2);\r\n    temp<\/span>.packet<\/span>[7] = originalP[7] + ((<\/span>rand<\/span>() % 10) - 5);\/\/gyro\r\n    temp<\/span>.packet<\/span>[8] = originalP[8] + ((<\/span>rand<\/span>() % 10) - 5);\r\n    temp<\/span>.packet<\/span>[9] = originalP[9] + ((<\/span>rand<\/span>() % 10) - 5);\r\n\r\n    return temp;\r\n}\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : Get_offset_sum()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : \uac01 IMU\uc758 10\ucd08\uac04\uc758 offset\uc758 \ud569\uc744 \uc5bb\uc5b4\ub0c4<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : IMU \uad6c\uc870\uccb4<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : \uc5f0\uc0b0 \ud6c4 IMU \uad6c\uc870\uccb4 \uadf8\ub300\ub85c \ub9ac\ud134<\/span>\r\n<\/span>struct<\/span> <\/span>IMU<\/span> Get_offset_sum(<\/span>struct<\/span> <\/span>IMU<\/span> temp)\r\n{\r\n    temp<\/span>.Gyro_offset_sum<\/span>[0] += temp<\/span>.packet<\/span>[7];      \/\/ Gyro pitch\r\n    temp<\/span>.Gyro_offset_sum<\/span>[1] += temp<\/span>.packet<\/span>[8];      \/\/ Gyro roll\r\n    temp<\/span>.Gyro_offset_sum<\/span>[2] += temp<\/span>.packet<\/span>[9];      \/\/ Gyro yaw\r\n    temp<\/span>.Accel_offset_sum<\/span>[0] += temp<\/span>.packet<\/span>[4];     \/\/ accel x\r\n    temp<\/span>.Accel_offset_sum<\/span>[1] += temp<\/span>.packet<\/span>[5];     \/\/ accel y\r\n    temp<\/span>.Accel_offset_sum<\/span>[2] += temp<\/span>.packet<\/span>[6];     \/\/ accel z\r\n\r\n    return temp;\r\n}\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : Get_offset_avg()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : \uac01 IMU\uc758 10\ucd08\uac04\uc758 offset\uc758 \ud569\uc744 \ud3c9\uade0\ub0c4<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : IMU \uad6c\uc870\uccb4<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : \uc5f0\uc0b0 \ud6c4 IMU \uad6c\uc870\uccb4 \uadf8\ub300\ub85c \ub9ac\ud134<\/span>\r\n<\/span>struct<\/span> <\/span>IMU<\/span> Get_offset_avg(<\/span>struct<\/span> <\/span>IMU<\/span> temp)\r\n{\r\n    temp<\/span>.Gyro_offset_avg<\/span>[0] = (double)temp<\/span>.Gyro_offset_sum<\/span>[0] \/ 200;\r\n    temp<\/span>.Gyro_offset_avg<\/span>[1] = (double)temp<\/span>.Gyro_offset_sum<\/span>[1] \/ 200;\r\n    temp<\/span>.Gyro_offset_avg<\/span>[2] = (double)temp<\/span>.Gyro_offset_sum<\/span>[2] \/ 200;\r\n    temp<\/span>.Accel_offset_avg<\/span>[0] = (double)temp<\/span>.Accel_offset_sum<\/span>[0] \/ 200;\r\n    temp<\/span>.Accel_offset_avg<\/span>[1] = (double)temp<\/span>.Accel_offset_sum<\/span>[1] \/ 200;\r\n    temp<\/span>.Accel_offset_avg<\/span>[2] = (double)temp<\/span>.Accel_offset_sum<\/span>[2] \/ 200;\r\n\r\n    return temp;\r\n}\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : \uc774\ud558 Voting System<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ IMU\uc5d0\uc11c \uc624\ub294 input\uac12\uc758 \ubc94\uc704\ub97c \uccb4\ud06c\ud558\uc5ec \uc5d0\ub7ec\uc778\uc9c0 \ud655\uc778\ud55c\ub2e4.<\/span>\r\n<\/span>bool<\/span> <\/span>ReleaseErr<\/span>(double d)\r\n{\r\n    if (d <= 180 && d >= -180)\r\n        return true;\r\n    else\r\n        return false;\r\n}\r\n\r\n<\/span>\/\/\uac01 \uac12\ub4e4\uc758 \ucc28\uc774\ub97c \uce21\uc815\ud55c\ub2e4. \uac00\uc7a5 \uc791\uc740 \ucc28\uc774\uc758 \ub450\uac12\uc744 \uc5bb\uc5b4\ub0b4\uae30 \uc704\ud568<\/span>\r\n<\/span>double<\/span> <\/span>FormalMajorityVoter<\/span>(double e, double f)\r\n{\r\n    double g;\r\n\r\n    g = e - f;\r\n    return abs(g);\r\n}\r\n\r\n\r\n<\/span>\/\/ \ub370\uc774\ud130 \uac12\uc758 \ucc28\uc774\uac00 \uac00\uc7a5 \uc791\uc740 \uac83\uc744 \uc120\ud0dd\ud55c\ub2e4.<\/span>\r\n<\/span>double<\/span> <\/span>SelData<\/span>(double a, double b, double c)\r\n{\r\n    double tempAA;\r\n\r\n\/\/  tempAA = min(a, b, c);\r\n    if (a <= b) {\r\n        if (a <= c) tempAA = a;\r\n        else tempAA = c;\r\n    } else if (b <= c) {\r\n        if (b <= a) tempAA = b;\r\n        else tempAA = a;\r\n    } else if (c <= a) {\r\n        if (c <= b) tempAA = c;\r\n        else tempAA = b;\r\n    }\r\n    return tempAA;\r\n}\r\n\r\n\r\n<\/span>\/\/ \uc120\ud0dd\ub41c 2\uac1c\uc758 input\uac12\uc758 \ud3c9\uade0\uc744 \uc5bb\ub294\ub2e4.<\/span>\r\n<\/span>double<\/span> <\/span>MeanVoter<\/span>(double a, double b)\r\n{\r\n    return (a + b) \/ 2.0;\r\n}\r\n\r\n\r\n<\/span>\/\/ Voting System\ud568\uc218<\/span>\r\n<\/span>double<\/span> <\/span>UavVoter<\/span>(double a, double b, double c)   <\/span>\/\/ IMU\uc5d0\uc11c 3\uac1c\uc758 input\uac12\uc744 \ubc1b\ub294\ub2e4.<\/span>\r\n{\r\n    double tempA, tempB, tempC;             \/\/ IMU\uc5d0\uc11c \uc5bb\uc5b4\uc628 \uac12\ub4e4\uac04\uc758 \ucc28\uc774 \uac12\uc744 \uc800\uc7a5\ud560 \uc784\uc2dc \ubcc0\uc218\r\n    double selData;                         \/\/ \uac01 \uac12\ub4e4\uc758 \ucc28\uc774\uac12 \uc911 \uac00\uc7a5 \uc791\uc740 \ucc28\uc774\uac12\uc744 \uc800\uc7a5\ud560 \ubcc0\uc218\r\n    double result;                          \/\/ voting system\uc758 \ucd5c\uc885 \uacb0\uacfc\uac12\uc744 \uc800\uc7a5\r\n\r\n    ReleaseErr(a);                          \/\/ \uc5d0\ub7ec\uccb4\ud06c\r\n    ReleaseErr(b);\r\n    ReleaseErr(c);\r\n    tempA = FormalMajorityVoter(a, b); \/\/ IMU\uc5d0\uc11c \uc5bb\uc5b4\uc628 \uac12\uc758 \ucc28\uc774\uac12(\uc808\ub300\uac12)\uc744 \uc800\uc7a5\r\n    tempB = FormalMajorityVoter(a, c);\r\n    tempC = FormalMajorityVoter(b, c);\r\n\r\n    selData = SelData(tempA, tempB, tempC); \/\/ \uac00\uc7a5 \uc791\uc740 \ucc28\uc774\uac12\uc744 \uc120\ud0dd\r\n\r\n    \/\/ \uac00\uc7a5 \uc791\uc740 \uac12\uc758 \ucc28\uc774\ub97c \ubcf4\uc774\ub294 2\uac1c\uc758 IMU input\uac12\ub4e4\uc758 \ud3c9\uade0\uc744 \uad6c\ud55c\ub2e4.\r\n    if (tempA == selData)\r\n        result = MeanVoter(a, b);\r\n    else if (tempB == selData)\r\n        result = MeanVoter(a, c);\r\n    else if (tempC == selData)\r\n        result = MeanVoter(b, c);\r\n\r\n    return result;\r\n}\r\n<\/span>\/\/ \uc5ec\uae30\uae4c\uc9c0 Voting System Functions.<\/span>\r\n<\/span>\/\/================================================<\/span>\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : ControlImage()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : IMU\uc5d0\uc11c \uc785\ub825 \ubc1b\uc740 \uac12\uc744 \ud1b5\ud574\uc11c \uc774\ubbf8\uc9c0\ud30c\uc77c\uc744 \ucee8\ud2b8\ub864 \ud558\ub294 \ud568\uc218<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : x\ub294 pitch, y\ub294 roll, yaw(\uc544\uc9c1 \ubbf8\uc815)<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : \uc5c6 \uc74c<\/span>\r\n<\/span>void<\/span> <\/span>ControlImage<\/span>(double x, double y, double z)  <\/span>\/\/ x\ub294 pitch, y\ub294 roll, yaw(\uc544\uc9c1 \ubbf8\uc815)<\/span>\r\n{\r\n    theta[3] = theta[0];\r\n    theta[4] = theta[1];\r\n    theta[5] = theta[2];\r\n    \/\/ \uc0c8\ub86d\uac8c \uc5bb\uc5b4\uc628 \uac12\uacfc \ud604\uc7ac \uc88c\ud45c\uacc4\uc758 \uac01\ub3c4\uc640\uc758 \ucc28\ub9cc\ud07c \uc804\uc5ed\uc88c\ud45c\uacc4 z\ucd95\uc744 \ud68c\uc804 \uc2dc\ud0a8\ub2e4.\r\n    theta[0] = (-theta[3]) + x;\r\n\/\/      theta[1] = (-theta[4]) + y;\r\n\/\/      theta[2] = (-theta[5]) + z;\r\n\/\/      theta[0] = x;\r\n\/\/      theta[1] = y;\r\n    theta[2] = z;\r\n\r\n    glRotatef(theta[0], 1.0, 0.0, 0.0);     \/\/ z\ucd95 \ubc29\ud5a5\uc73c\ub85c \ud68c\uc804 theta[1]\ub9cc\ud07c \ud68c\uc804\r\n    glRotatef(theta[1], 0.0, 1.0, 0.0);     \/\/ z\ucd95 \ubc29\ud5a5\uc73c\ub85c \ud68c\uc804 theta[1]\ub9cc\ud07c \ud68c\uc804\r\n    glRotatef(theta[2], 0.0, 0.0, 1.0);     \/\/ z\ucd95 \ubc29\ud5a5\uc73c\ub85c \ud68c\uc804 theta[1]\ub9cc\ud07c \ud68c\uc804\r\n\r\n    glutPostRedisplay();\r\n\r\n    \/\/ z\ucd95 \ubc18\ub300\ubc29\ud5a5\uc73c\ub85c \ud68c\uc804 theta[1]\ub9cc\ud07c \ud68c\uc804, \uc804\uc5ed\uc88c\ud45c\uacc4\ub97c \ud68c\uc804\ud558\uae30 \uc804 \uc0c1\ud0dc\ub85c \ub3cc\ub9ac\uae30 \uc704\ud574\r\n    glRotatef(theta[3], -1.0, 0.0, 0.0);\r\n    glRotatef(theta[4], 0.0, -1.0, 0.0);\r\n    glRotatef(theta[5], 0.0, 0.0, -1.0);\r\n}\r\n\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : SpinControl()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : \ubb34\ud55c\uc73c\ub85c \ubc18\ubcf5\ub418\uba74\uc11c IMU\uc5d0\uc11c \uac12\uc744 \uc5bb\uc5b4 ControlImage\ud568\uc218\ub85c \uac12\uc744 \ubcf4\ub0c4<\/span>\r\n<\/span>\/\/ \uc778 \uc218 \uac12 : \uc758\ubbf8 \uc5c6\uc74c<\/span>\r\n<\/span>\/\/ \ub9ac \ud134 \uac12 : \uc5c6 \uc74c<\/span>\r\n<\/span>\/\/\/\/\/\/\/\/\/\/\/\/\/\/ \ud68c\uc804\uac12\uc774 360\ub3c4\ub97c \ub118\uc5b4\uac00\uc9c0 \uc54a\ub3c4\ub85d \ud558\ub294 \ud568\uc218 (float\uc758 \ucd5c\ub300,\ucd5c\uc18c\uac12\uc744 \ub118\uae30\ub294\uac83\uc744 \ubc29\uc9c0)<\/span>\r\n\r\n<\/span>int<\/span> a = <\/span>1<\/span>;\r\n<\/span>void<\/span> <\/span>SpinControl<\/span>(int Value)\r\n{\r\n    \/\/---[ \uba54\ubaa8\ub9ac \ube14\ub7ed\uc744 0\uc73c\ub85c \ub9cc\ub4ec ]\r\n    ZeroMemory(buf, sizeof(buf));\r\n    retval = ReadFile(hComm, buf, BUFSIZE, &BytesRead, NULL);\r\n    if (retval == 0) err_quit(\"<\/span>ReadFile<\/span>()\");\r\n    if (BytesRead == 0)\r\n        printf(\"[\uc624\ub958] \uc751\ub2f5\uc774 \uc5c6\uc2b5\ub2c8\ub2e4!\\n\");\r\n        \/\/         continue;\r\n    \/\/---[ \ubc1b\uc740 \ub370\uc774\ud130 \ucd9c\ub825 ]\r\n    buf[BytesRead] = '\\0';\r\n\r\n    \/\/ ---[ \ud55c \ud328\ud0b7 \ub2e8\uc704\ub85c \ub370\uc774\ud130\ub97c \ud30c\uc2f1\ud574\uc11c \ubcc0\ud658\ud558\uc5ec \uc800\uc7a5 ]\r\n    \/\/ Count = 0\r\n    \/\/ Magnetic x=1, y=2, z=3\r\n    \/\/ Accelometer x=4, y=5, z=6\r\n    \/\/ Zyro pitch=7, roll=8, yaw=9\r\n    IMU1<\/span>.packet<\/span>[0] = (int)buf[1] * 256 + (int)buf[2];\r\n    IMU1<\/span>.packet<\/span>[1] = (int)buf[3] * 256 + (int)buf[4];\r\n    IMU1<\/span>.packet<\/span>[2] = (int)buf[5] * 256 + (int)buf[6];\r\n    IMU1<\/span>.packet<\/span>[3] = (int)buf[7] * 256 + (int)buf[8];\r\n    IMU1<\/span>.packet<\/span>[4] = (int)buf[9] * 256 + (int)buf[10];\r\n    IMU1<\/span>.packet<\/span>[5] = (int)buf[11] * 256 + (int)buf[12];\r\n    IMU1<\/span>.packet<\/span>[6] = (int)buf[13] * 256 + (int)buf[14];\r\n    IMU1<\/span>.packet<\/span>[7] = (int)buf[15] * 256 + (int)buf[16];\r\n    IMU1<\/span>.packet<\/span>[8] = (int)buf[17] * 256 + (int)buf[18];\r\n    IMU1<\/span>.packet<\/span>[9] = (int)buf[19] * 256 + (int)buf[20];\r\n\r\n\r\n    \/\/\ub178\uc774\uc988 \uc0dd\uc131 - IMU2, IMU3\r\n    IMU2 = NoiseFunc(IMU1<\/span>.packet<\/span>, IMU2);\r\n    IMU3 = NoiseFunc(IMU1<\/span>.packet<\/span>, IMU3);\r\n\r\n    \/\/ -- [is_start\uac00 \uc544\uc9c1 0\uc774\uace0, 10\ucd08\uac00 \uc544\uc9c1 \uc548 \uc9c0\ub0ac\ub2e4\uba74 \uc218\ud589]\r\n    if (TenSec < 200) {\r\n        IMU1 = Get_offset_sum(IMU1);\r\n        IMU2 = Get_offset_sum(IMU2);\r\n        IMU3 = Get_offset_sum(IMU3);\r\n        TenSec++;\r\n        if (TenSec == 199) {\r\n            IMU1 = Get_offset_avg(IMU1);\r\n            IMU2 = Get_offset_avg(IMU2);\r\n            IMU3 = Get_offset_avg(IMU3);\r\n        }\r\n    } else { \/\/ 10\uac1c\uc758 \uac12\uc744 \ud14c\uc2a4\ud2b8\uc6a9\uc73c\ub85c \ucd9c\ub825\r\n        printf(\"===================================\\n\");\r\n        printf(\"            count  mag_x  mag_y  mag_z  acc_x  acc_y  acc_z  pitch  roll  yaw\\n\");\r\n        printf(\" Packet : \");\r\n        for (int k = 0; k < 10; k++)\r\n            printf(\"%5d  \", IMU1<\/span>.packet<\/span>[k]);\r\n        printf(\"\\n\\n\");\r\n        printf(\"--- IMU1 ---\\n\");\r\n        \/\/\ucd5c\uc885 Gyro, Accel, KalmanFilter\uc5d0 \ub123\uc5b4\ubcf4\uae30\r\n        IMU1 = Gyro(IMU1);\r\n        IMU1 = Accel(IMU1);\r\n        Update1(filter_roll_1, IMU1<\/span>.G_roll<\/span>, dt);\r\n        IMU1<\/span>.LK_roll<\/span> = Update2(filter_roll_1, IMU1<\/span>.A_roll<\/span>);\r\n        printf(\"Kalman_Roll : %f \\n\\n\", IMU1<\/span>.LK_roll<\/span>);\r\n\r\n        printf(\"--- IMU2 ---\\n\");\r\n        IMU2 = Gyro(IMU2);\r\n        IMU2 = Accel(IMU2);\r\n        Update1(filter_roll_2, IMU2<\/span>.G_roll<\/span>, dt);\r\n        IMU2<\/span>.LK_roll<\/span> = Update2(filter_roll_2, IMU2<\/span>.A_roll<\/span>);\r\n        printf(\"Kalman_Roll : %f \\n\\n\", IMU2<\/span>.LK_roll<\/span>);\r\n\r\n        printf(\"--- IMU3 ---\\n\");\r\n        IMU3 = Gyro(IMU3);\r\n        IMU3 = Accel(IMU3);\r\n        Update1(filter_roll_3, IMU3<\/span>.G_roll<\/span>, dt);\r\n        IMU3<\/span>.LK_roll<\/span> = Update2(filter_roll_3, IMU3<\/span>.A_roll<\/span>);\r\n        printf(\"Kalman_Roll : %f \\n\\n\", IMU3<\/span>.LK_roll<\/span>);\r\n\r\n        Final_Roll = UavVoter(IMU1<\/span>.LK_roll<\/span>, IMU2<\/span>.LK_roll<\/span>, IMU3<\/span>.LK_roll<\/span>);\r\n        printf(\"Final Roll is !!!! %f \\n\", Final_Roll);\r\n        printf(\"===================================\\n\\n\\n\");\r\n    }\r\n\r\n\r\n    ControlImage(0, 0, IMU1<\/span>.G_roll<\/span>);\r\n    glutTimerFunc(9, SpinControl, 1); \/\/ 120hz \uc774\ubbc0\ub85c \uc57d0.008\ucd08\r\n}\r\n\r\n<\/span>\/\/================================================<\/span>\r\n<\/span>\/\/ FUNC : main()<\/span>\r\n<\/span>\/\/------------------------------------------------<\/span>\r\n<\/span>\/\/ \ud568\uc218\uc124\uba85 : \ud504\ub85c\uadf8\ub7a8 \uc2dc\uc791\ud568\uc218<\/span>\r\n\r\n<\/span>void<\/span> <\/span>main<\/span>(int argc, char *argv[])\r\n{\r\n    \/\/---< STEP 1 : \ud3ec\ud2b8 \uc5f4\uae30 >-----------------------\r\n    \/\/ : \ud3ec\ud2b8\uc5f4\uae30 \ud568\uc218 - CreateFile()\r\n    \/\/ : \uc778\uc2181 - \ud3ec\ud2b8\uc774\ub984 \ubb38\uc790\uc5f4\r\n    \/\/ : \uadf8\ubc16\uc758 \uc778\uc218 - \uc9c1\ub82c \ud3ec\ud2b8\ub97c \ub2e4\ub8f0\ub54c\ub294 \uc544\ub798\uc640\r\n    \/\/     \ub3d9\uc77c\ud558\uac8c \uc124\uc815\ud568\r\n    \/\/ : \ub9ac\ud134\uac12 - \ud30c\uc77c\uc5f4\uae30 \uc131\uacf5\ud558\uba74 \ud578\ub4e4\uac12 \ub9ac\ud134\r\n    \/\/    \uc2e4\ud328\ud558\uba74 INVALID_HANDIL_VALUE\uac12 \ub9ac\ud134\r\n    \/\/    GetLastError()\uc5d0 \uc5d0\ub7ec\uba54\uc138\uc9c0 \ubcf4\ub0c4\r\n    \/\/------------------------------------------------\r\n\r\n    hComm = CreateFile(\"COM2\", GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);\r\n    if (hComm == INVALID_HANDLE_VALUE) err_quit(\"<\/span>CreateFile<\/span>()\");\r\n\r\n    \/\/---< STEP 2 : \ud3ec\ud2b8 \uc124\uc815\uac12 \ubcc0\uacbd >----------------\r\n    \/\/ : \ud3ec\ud2b8\uc124\uc815\uac12 \uc5bb\uae30\ud568\uc218 - GetCommState()\r\n    \/\/ : \ud3ec\ud2b8\uc124\uc815\uac12 \ubcc0\uacbd\ud568\uc218 - SetCommState()\r\n    \/\/ : \uc131\uacf5->0\uc774 \uc544\ub2cc\uac12, \uc2e4\ud328->0\r\n    \/\/------------------------------------------------\r\n    DCB dcb;\r\n    if (!<\/span>GetCommState<\/span>(hComm, &dcb)) err_quit(\"<\/span>GetCommState<\/span>()\");\r\n\r\n    \/\/---[ \ud3ec\ud2b8 \uc124\uc815\uac12 \ubcc0\uacbd ]\r\n    \/\/ : 115200bps, no <\/span>parity<\/span>(\ud328\ub9ac\ud2f0), 8bit(\ub370\uc774\ud0c0\ube44\ud2b8), 1 stop <\/span>bit<\/span>(\uc815\uc9c0\ube44\ud2b8)\r\n    dcb<\/span>.BaudRate<\/span> = CBR_115200;\r\n    dcb<\/span>.fParity<\/span> = FALSE;\r\n    dcb<\/span>.fNull<\/span> = FALSE;\r\n    dcb<\/span>.ByteSize<\/span> = 8;\r\n    dcb<\/span>.Parity<\/span> = NOPARITY;\r\n    dcb<\/span>.StopBits<\/span> = ONESTOPBIT;\r\n    if (!<\/span>SetCommState<\/span>(hComm, &dcb)) err_quit(\"<\/span>SetCommState<\/span>()\");\r\n\r\n    \/\/---< STEP 3 : \uc77d\uae30\uc640 \uc4f0\uae30 \ud0c0\uc784\uc544\uc6c3 \uc124\uc815 >-------\r\n    \/\/ : \uc774 \ud568\uc218\ub294 \uc77d\uac70\ub098 \uc4f0\uae30\uc704\ud574 \ubb34\ud55c\uc815 \ub300\uae30\ud558\ub294 \uac83\uc744 \ubc29\uc9c0\ud568\r\n    \/\/   \ud0c0\uc784\uc544\uc6c3\uc774 \uacbd\uacfc\ub418\uba74 \ud568\uc218\uac00 \ubb34\uc870\uac74 \ub9ac\ud134\ud568\r\n    \/\/ : \ud0c0\uc784\uc544\uc6c3 \uc5bb\uae30\ud568\uc218 - GetTimeouts()\r\n    \/\/ : \ud0c0\uc784\uc544\uc6c3 \ubcc0\uacbd\ud568\uc218 - SetTimeouts()\r\n    \/\/ : \uc131\uacf5->0\uc774 \uc544\ub2cc\uac12, \uc2e4\ud328-> 0\r\n    \/\/ : -Multiplier, -Constant\uac12\uc774 \ub458\ub2e4 0\uc774\uba74\r\n    \/\/   \uc815\ud574\uc9c4 \ubc14\uc774\ud2b8\ub97c \uc4f0\uac70\ub098 \uc77d\uc744 \ub54c\uae4c\uc9c0 \ubb34\ud55c\uc815 \ub300\uae30\ud568\r\n    \/\/ : \uc124\uc815\ub2e8\uc704\ub294 ms\uc784\r\n    \/\/ : \uc77d\uae30 \ud0c0\uc784\uc544\uc6c3 -> n*ReadTotalTimeoutMultiplier + ReadTotalTimeoutConstant\r\n    \/\/ : \uc4f0\uae30 \ud0c0\uc784\uc544\uc6c3 -> n*WriteTotalTimeoutMultiplier + WriteTotlaTimeoutConstant\r\n    \/\/------------------------------------------------\r\n    COMMTIMEOUTS timeouts;\r\n    timeouts<\/span>.ReadIntervalTimeout<\/span> = 0;\r\n\r\n    \/\/---[ \uc5ec\uae30\uc11c\ub294 512\ubc14\uc774\ud2b8 \ubcf4\ub0b4\ubbc0\ub85c \uc77d\uae30 \ud0c0\uc784\uc544\uc6c3\uc740 512ms\uc784 ]\r\n    timeouts<\/span>.ReadTotalTimeoutMultiplier<\/span> = 22;\r\n    timeouts<\/span>.ReadTotalTimeoutConstant<\/span> = 0;\r\n    timeouts<\/span>.WriteTotalTimeoutMultiplier<\/span> = 0;\r\n    timeouts<\/span>.WriteTotalTimeoutConstant<\/span> = 0;\r\n    if (!<\/span>SetCommTimeouts<\/span>(hComm, &timeouts)) err_quit(\"<\/span>SetCommTimeouts<\/span>()\");\r\n\r\n    \/\/<\/span>srand<\/span>: \ub09c\uc218 \uc0dd\uc131\uc744 \uc704\ud574.\r\n    srand((unsigned)<\/span>time<\/span>(NULL));\r\n\r\n    \/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/======== \uc624\ud508\uc9c0\uc5d8\r\n    if (argc <= 1) {\r\n        printf(\"\\n%s\\n\\n\", \"Usage : TextureDLG3_Consol<\/span>.exe<\/span> [BMPFileName<\/span>.bmp<\/span>]\");\r\n        exit(1);\r\n    } else if (argc > 2) {\r\n        printf(\"\\nToo Many Arguments!\\nArgument is Only one\\n\");\r\n        exit(1);\r\n    } else {\r\n        glutInit(&argc, argv);\r\n        glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);\r\n        glutInitWindowSize(1250, 750);\r\n        glutInitWindowPosition(0, 0);\r\n        glClearColor(1.0, 1.0, 1.0, 1.0);\r\n        InitVisibility();\r\n        glutCreateWindow(\"Linear Kalman Filter\");\r\n        glutReshapeFunc(MyReshape);\r\n        glutDisplayFunc(MyDisplay);\r\n\r\n        if (<\/span>LoadGLTextures<\/span>(argv[1])) {\r\n            glEnable(GL_TEXTURE_2D);\r\n            glShadeModel(GL_SMOOTH);\r\n            glClearDepth(1.0);\r\n            glEnable(GL_DEPTH_TEST);\r\n            glDepthFunc(GL_LEQUAL);\r\n            glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);\r\n            glutTimerFunc(50, SpinControl, 1);\r\n        } \/\/ end of if\r\n\r\n        glutMainLoop( );\r\n    } \/\/ end of else\r\n}<\/span><\/pre>\n\n\n
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