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authorgaillaro2005-04-23 20:37:12 +0000
committergaillaro2005-04-23 20:37:12 +0000
commit3a3f8be88bca27db95a06c78f979f3a4a2803aa3 (patch)
treed1483eff113dd9f5479c5679922120208517ec31 /2005/i/robert/src
parent9d894a3adfcb6cea19f159bfe3de58ae8bce77a1 (diff)
mise à jour de l'interface ovision
Diffstat (limited to '2005/i/robert/src')
-rw-r--r--2005/i/robert/src/ovision/see/magnifier.cc18
-rw-r--r--2005/i/robert/src/ovision/see/magnifier.hh4
-rw-r--r--2005/i/robert/src/ovision/see/ovision.cc15
-rw-r--r--2005/i/robert/src/ovision/see/ovision.hh6
-rw-r--r--2005/i/robert/src/ovision/see/skittle.cc14
-rw-r--r--2005/i/robert/src/ovision/see/skittle.hh4
6 files changed, 31 insertions, 30 deletions
diff --git a/2005/i/robert/src/ovision/see/magnifier.cc b/2005/i/robert/src/ovision/see/magnifier.cc
index f26e367..82485b4 100644
--- a/2005/i/robert/src/ovision/see/magnifier.cc
+++ b/2005/i/robert/src/ovision/see/magnifier.cc
@@ -88,19 +88,23 @@ Magnifier::analyse (std::vector<Zone> &zoneList)
bool
Magnifier::scan ()
{
+ bool hasChanged = false;
std::vector<Zone> *newList = new std::vector<Zone>[Group::nbZoneType];
for (int i=0; i <Group::nbZoneType; ++i)
{
for(std::vector<Zone>::iterator iter = itemList_[i].begin (); iter != itemList_[i].end (); ++iter)
{
if (!checkIsUnique (*iter, newList))
+ {
+ hasChanged = true;
continue;
+ }
add (*iter, newList);
}
// delete [] itemList_;
itemList_ = newList;
}
- return false;
+ return hasChanged;
}
void
@@ -132,8 +136,8 @@ Magnifier::add (Zone &zone, std::vector<Zone> *list)
bool
isInside (const Zone &z1, const Zone &z2)
{
- const int maxOut = 300;
- int out = 0;
+// const int maxOut = 300;
+// int out = 0;
// test si le centre est à l'intérieur
if ((z1.centerx <= z2.xmax) && (z1.centerx >= z2.xmin)
&& (z1.centery <= z2.ymax) && (z1.centery >= z2.ymin))
@@ -246,11 +250,11 @@ Magnifier::addItem (Zone &zone, std::vector<Zone> *list)
void
Magnifier::showItems (const Group::ZoneType type) const
{
- std::cout << "Items :\n";
+ std::cout << "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n";
+ std::cout << Group::translateToColorName (type) << "\n";
for (std::vector<Zone>::const_iterator iter = itemList_[type].begin (); iter != itemList_[type].end (); ++iter)
- std::cout << (int)iter->id << " " << iter->xmin << " " << iter->xmax << " "
- << iter->ymin << " " << iter->ymax << "\n";
- std::cout << std::endl;
+ showZone (*iter);
+ std::cout << "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n";
}
diff --git a/2005/i/robert/src/ovision/see/magnifier.hh b/2005/i/robert/src/ovision/see/magnifier.hh
index 464e20f..58e05de 100644
--- a/2005/i/robert/src/ovision/see/magnifier.hh
+++ b/2005/i/robert/src/ovision/see/magnifier.hh
@@ -64,14 +64,14 @@ class Magnifier
private:
/// Ajout d'un objet
void addItem (Zone &zone, std::vector<Zone> *list);
+ void add (Zone &zone, std::vector<Zone> *list);
/// Test si l'object s'agit d'un doublon
bool checkIsUnique (const Zone &zone, std::vector<Zone> *list);
+ bool scan ();
/// Test si les zones sont liées
bool areBound (const Zone &z1, const Zone &z2);
/// Test la validité des objects
Skittle* isSkittle (Zone &zone);
- void add (Zone &zone, std::vector<Zone> *list);
- bool scan ();
bool isRedSkittle (const Zone &zone) const;
bool isGreenSkittle (const Zone &zone) const;
bool isBase (const Zone &zone) const;
diff --git a/2005/i/robert/src/ovision/see/ovision.cc b/2005/i/robert/src/ovision/see/ovision.cc
index d6a8b0b..126c28a 100644
--- a/2005/i/robert/src/ovision/see/ovision.cc
+++ b/2005/i/robert/src/ovision/see/ovision.cc
@@ -47,8 +47,7 @@ OVision::init (const Group::ZoneType aim)
space_->addSetupPoint (237, 224, 100, 900);
space_->addSetupPoint (275, 113, 100, 550);
space_->setup (0.00891157, 0.258144, 403.801);
-}
-
+
/// Prends une image avec la caméra
void
OVision::takeShoot ()
@@ -84,18 +83,16 @@ OVision::showInfo () const
std::cout << "-----------------------------------------------------------------" << std::endl;
std::cout << "image n°" << step_ << std::endl;
// Info sur les zones trouvées
-// group_->showZones();
-// mag_->showItems (Group::redSkittle);
+ mag_->showItems (aim_);
std::cout << "-------------\n" << std::endl;
std::cout << "-------------\n" << std::endl;
}
-/// Renvoie la position
-bool
-OVision::getBall (double &x, double &y) const
+/// Renvoie la liste des quilles
+std::vector<Zone>&
+OVision::getSkittles () const
{
- return false;
-// return map_->GetCurBallPos (x, y);
+ return mag_->getItemList (aim_);
}
/// Renvoie le pointeur sur Video4Linux
diff --git a/2005/i/robert/src/ovision/see/ovision.hh b/2005/i/robert/src/ovision/see/ovision.hh
index f3b9339..eddd7be 100644
--- a/2005/i/robert/src/ovision/see/ovision.hh
+++ b/2005/i/robert/src/ovision/see/ovision.hh
@@ -44,7 +44,7 @@ class OVision
Group *group_;
Magnifier *mag_;
Space *space_;
-// Map *map_;
+ // Map *map_;
// SocketClient *socket_;
Video4Linux *v4l_;
/// Nombre d'images déjà traitées
@@ -66,8 +66,8 @@ class OVision
void sendImg ();
/// Affiche d'info sur l'update
void showInfo () const;
- /// Renvoie la position
- bool getBall (double &x, double &y) const;
+ /// Renvoie la liste des quilles
+ std::vector<Zone>& OVision::getSkittles () const;
/// Renvoie le pointeur sur Video4Linux
Video4Linux &getVideo4Linux () const;
};
diff --git a/2005/i/robert/src/ovision/see/skittle.cc b/2005/i/robert/src/ovision/see/skittle.cc
index 047455e..f50705d 100644
--- a/2005/i/robert/src/ovision/see/skittle.cc
+++ b/2005/i/robert/src/ovision/see/skittle.cc
@@ -43,7 +43,7 @@ Skittle::pca (const Zone &zone)
for (int x = xmin; x < xmax; x += jump)
if (segm_->giveColor (img_->tabData_ + ((tmpY + x) * 3), true, true) == zone.color)
{
- *f2 << x << " " << y << std::endl;
+// *f2 << x << " " << y << std::endl;
Hpoint h (x, y);
l.push_back (h);
}
@@ -62,7 +62,7 @@ Skittle::climb (const int startX, int startY, const int color)
&& (startY > 0))
{
--startY;
- *f << startX << " " << startY << "\n";
+// *f << startX << " " << startY << "\n";
}
return startY;
}
@@ -74,7 +74,7 @@ Skittle::whereIsReflectBand (const Zone &zone, const std::vector<Zone> &listRefl
const double minAreaRatio = 0.1;
const double maxAreaRatio = 0.4;
// Test les variables de composantes principales + liste transmise
- if (pcX_ || !pcY_ || listReflectBand.size ())
+ if (!pcX_ || !pcY_ || listReflectBand.size ())
return error;
// Analyse de la taille
if (zone.area < minAreaRatio || zone.area > maxAreaRatio) // valeur réelle 0.2
@@ -151,8 +151,8 @@ bool
Skittle::analyse (Zone &zone, const std::vector<Zone> &listReflectBand)
{
// delete f; delete f2;
- f = new std::ofstream ("data", std::ios_base::trunc);
- f2 = new std::ofstream ("data2", std::ios_base::trunc);
+// f = new std::ofstream ("data", std::ios_base::trunc);
+// f2 = new std::ofstream ("data2", std::ios_base::trunc);
// group est partiel ?
// if (zone.partial)
// quille verticale sur l'image ?
@@ -180,8 +180,8 @@ Skittle::analyse (Zone &zone, const std::vector<Zone> &listReflectBand)
else zone.alone = false;
- f->close ();
- f2->close ();
+// f->close ();
+// f2->close ();
return true;
}
diff --git a/2005/i/robert/src/ovision/see/skittle.hh b/2005/i/robert/src/ovision/see/skittle.hh
index 678d3b7..0fb5de4 100644
--- a/2005/i/robert/src/ovision/see/skittle.hh
+++ b/2005/i/robert/src/ovision/see/skittle.hh
@@ -25,7 +25,7 @@
#include <vector>
#include <math.h>
-#include <fstream>
+//#include <fstream>
#include "segm.hh"
#include "oconfig.hh"
@@ -53,7 +53,7 @@ class Skittle
/// Position de la bande réfléchissante
Pos reflectBand_;
- std::ofstream *f, *f2;
+// std::ofstream *f, *f2;
public:
/// Constructeur