fixed to get real-bots working

k29 · Sep 8, 2014 · 1d432d0 · 1d432d0
1 parent abbf9da
commit 1d432d0
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Showing 15 changed files with 374 additions and 344 deletions.
diff --git a/epuck/algoworker.cpp b/epuck/algoworker.cpp
@@ -835,6 +835,7 @@ double AlgoWorker::pointToAngle(int n)
 void AlgoWorker::onTimeout()
 {
     bool isBSAvailable = false;
+    return;
     bsMutex->lock();
     if(bs)
     {
@@ -867,7 +868,7 @@ void AlgoWorker::onTimeout()
     }
 //    qDebug() << "Y222OOOOOOOOOOO";
 //    qDebug() << avail3;
-    if(allBotVisible == NUMBOTS && isBSAvailable && isRunning)
+    if(allBotVisible == NUMBOTS && isBSAvailable && isRunning && 0)
     {
 //        qDebug() << "YOOOOOOOOOOO\n";
 

diff --git a/epuck/camcapture.cpp b/epuck/camcapture.cpp
@@ -78,6 +78,7 @@ CamError CamCapture::init(int nCamera)
 
 #ifdef CAMCAPTURE_DEBUG
     showSeg = cvCreateImage(cvSize(width_var, height_var), 8, 3);
+
 #endif
 
     // width_var = rgbimg->width;

diff --git a/epuck/camcapture.h b/epuck/camcapture.h
@@ -4,7 +4,7 @@
 #include <opencv2/opencv.hpp>
 #include "imgproc.h"
 
-// #define CAMCAPTURE_DEBUG
+//#define CAMCAPTURE_DEBUG
 /*
 HOW TO USE THIS CLASS
 1. Make object of class.

diff --git a/epuck/cameraworker.cpp b/epuck/cameraworker.cpp
@@ -87,7 +87,12 @@ void CameraWorker::onTimeout()
         cvCircle(cc->rgbimg, cvPoint(circle.centre.x, circle.centre.y), circle.radius, cvScalar(0,0,255), 3);
     }
 //    qDebug() << "Bot state:" << fd->bot.x<< fd->bot.y<< fd->bot.angle;
+#ifdef CAMCAPTURE_DEBUG
+    frame = cc->showSeg;
+#endif
+#ifndef CAMCAPTURE_DEBUG
     frame = cc->rgbimg;
+#endif
     cvCvtColor(frame, frame,CV_BGR2RGB);
     QImage qimg((uchar*)frame->imageData, frame->width, frame->height, frame->widthStep, QImage::Format_RGB888);
     myMutex->lock();

diff --git a/epuck/commondefs.h b/epuck/commondefs.h
@@ -5,7 +5,7 @@
 
 //enum Command {FORWARD, BACKWARD, LEFT, RIGHT, UP, DOWN, STOP, SPEED1, SPEED2, SPEED3, SPEED4, F_PULSE, B_PULSE, L_PULSE, R_PULSE};
 #define NUMBOTS 5
-#define SIMULATION 1
+//#define SIMULATION 1
 //plz to store angle in radians
 struct Bot
 {

diff --git a/epuck/epuck b/epuck/epuck
diff --git a/epuck/epuck.pro.user b/epuck/epuck.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.0.1, 2014-09-01T23:35:22. -->
+<!-- Written by QtCreator 3.0.1, 2014-09-08T06:15:21. -->
 <qtcreator>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>

diff --git a/epuck/featuredetection.cpp b/epuck/featuredetection.cpp
@@ -248,6 +248,7 @@ int FeatureDetection::getRobotIDByColour(BlobColour largeColour, BlobColour smal
 void FeatureDetection::updateBeliefState(CamCapture &cam)
 {
     getBlobs(cam);
+
     //need to see configuration. right now assuming
     //5 bots with colors red, orange, purple, green and pink
 //    qDebug() << blobs_cyan.size();
@@ -280,7 +281,7 @@ void FeatureDetection::updateBeliefState(CamCapture &cam)
             blob.colour = bc;
             blob.x = it->second->centroid.x;
             blob.y = it->second->centroid.y;
-            if(it->second->area > 350)  //if more than 350, it is a large blob, otherwise small blob
+            if(it->second->area > 250)  //if more than 350, it is a large blob, otherwise small blob
             {
                 largeBlobs.push_back(blob);
             }
@@ -292,6 +293,7 @@ void FeatureDetection::updateBeliefState(CamCapture &cam)
 
     }
 
+
     for(int i = 0; i < NUMBOTS; ++i)
     {
         bs.bot[i].isVisible = false;
@@ -303,6 +305,8 @@ void FeatureDetection::updateBeliefState(CamCapture &cam)
         customBlob s = getClosest(it->second->centroid, smallBlobs);
 
         int id = getRobotIDByColour(l.colour, s.colour);
+        if(id >= NUMBOTS)
+            continue;
         bs.bot[id].isVisible = true;
         bs.bot[id].x = it->second->centroid.x;
         bs.bot[id].y = it->second->centroid.y;

diff --git a/epuck/mainwindow.cpp b/epuck/mainwindow.cpp
@@ -46,7 +46,7 @@ MainWindow::MainWindow(QWidget *parent) :
 
     connect(this, SIGNAL(stopAlgo()), aw, SLOT(onStopAlgo()));
 
-    algoThread->start(QThread::TimeCriticalPriority);
+//    algoThread->start(QThread::TimeCriticalPriority);
 
 
     connect(aw, SIGNAL(gotLine(int, int, int, int)), cw, SLOT(onGotLine(int, int, int, int)));

diff --git a/trial1/1 b/trial1/1
diff --git a/trial1/mainwindow.cpp b/trial1/mainwindow.cpp
@@ -223,7 +223,7 @@ void MainWindow::IplImage2QImage(IplImage *iplImg, QImage *image)
 void MainWindow::asd()
 {
     cam = new CamCapture(false);//, "../pic-2.jpg");
-    cam->init(0);
+    cam->init(1);
 
     isCameraOn = 1;
-Original file line number
+Diff line change
@@ Expand Up / @@ -78,6 +78,7 @@ CamError CamCapture::init(int nCamera) @@
     #ifdef CAMCAPTURE_DEBUG
         showSeg = cvCreateImage(cvSize(width_var, height_var), 8, 3);
     #endif
         // width_var = rgbimg->width;
@@ Expand Down @@