From e64d2724c403a4d4a2c63f5c5f78e9208720cc62 Mon Sep 17 00:00:00 2001
From: Zhaoliang <zhz03@g.ucla.edu>
Date: Tue, 12 Oct 2021 16:53:55 -0700
Subject: [PATCH] replace the previous camera.cpp and camera.h
---
.../Camera.cpp | 88 +++++--------------
.../feather_main_test_PID_April_Tag/Camera.h | 3 +-
2 files changed, 23 insertions(+), 68 deletions(-)
diff --git a/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_April_Tag/Camera.cpp b/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_April_Tag/Camera.cpp
index 1b0f094..fb27cf8 100644
--- a/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_April_Tag/Camera.cpp
+++ b/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_April_Tag/Camera.cpp
@@ -21,33 +21,18 @@ void Camera::exe_face_detection(){
Serial.println(F("]"));
}
}
-
-void Camera::exe_person_detection(){
- char buff[32 + 1] = {}; // null terminator
- if (interface->call_no_args(F("person_detection"), buff, sizeof(buff) - 1)) {
- Serial.println(buff);
- }
-}
-
-void Camera::exe_qrcode_detection(){
- char buff[128 + 1] = {}; // null terminator
- if (interface->call_no_args(F("qrcode_detection"), buff, sizeof(buff) - 1)) {
- Serial.print("qrdetected: ");
- Serial.println(buff);
- }
-}
-void Camera::exe_datamatrix_detection(){
- char buff[128 + 1] = {}; // null terminator
- if (interface->call_no_args(F("datamatrix_detection"), buff, sizeof(buff) - 1)) {
- Serial.println(buff);
+bool Camera::exe_apriltag_detection(int ID,int *x_temp,int *y_temp,int *angle_temp){
+ struct { uint16_t cx, cy, rot; } result;
+ if (interface->call(F("apriltags"), &ID, sizeof(ID), &result, sizeof(result))) {
}
-}
-
-void Camera::exe_barcode_detection(){
- char buff[128 + 1] = {}; // null terminator
- if (interface->call_no_args(F("barcode_detection"), buff, sizeof(buff) - 1)) {
- Serial.println(buff);
+ if (result.cx == 0 && result.cy == 0 && result.rot == 0){
+ return false;
+ } else {
+ *x_temp = result.cx;
+ *y_temp = result.cy;
+ *angle_temp = result.rot;
+ return true;
}
}
@@ -84,52 +69,23 @@ bool Camera::exe_color_detection_biggestblob(int8_t l_min, int8_t l_max, int8_t
}
}
-void Camera::exe_led_detection(){
- //int8_t color_thresholds[6] = {l_min, l_max, a_min, a_max, b_min, b_max};
- int8_t color_thresholds[6] = {26, 100, -108, -9, 0, -42};
- //struct { uint16_t cx, cy; } color_detection_result;
- short buff[128 + 1] = {};
- if (interface->call(F("LED_detection"), color_thresholds, sizeof(color_thresholds), buff, sizeof(buff)-1)) {
- int i = 0;
- Serial.println("LED detected");
- while (buff[i] != '\0' && i<100) {
- Serial.print(buff[i]);
- i++;
- }
- Serial.println("");
- }
-}
-
-bool Camera::exe_apriltag_detection(int ID,int *x_temp,int *y_temp,int *angle_temp){
- struct { uint16_t cx, cy, rot; } result;
- if (interface->call(F("apriltags"), &ID, sizeof(ID), &result, sizeof(result))) {
- }
- if (result.cx == 0 && result.cy == 0 && result.rot == 0){
- return false;
- } else {
- *x_temp = result.cx;
- *y_temp = result.cy;
- *angle_temp = result.rot;
- return true;
- }
-}
-
-bool Camera::exe_goalfinder(int goal1, int goal2, int goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){
- int goalid[3] = {goal1, goal2, goal3};
+bool Camera::exe_goalfinder(int8_t goal1, int8_t goal2, int8_t goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){
+ int8_t goalid[3] = {goal1, goal2, goal3};
struct { uint16_t cid, ctx, cty, ctz, crx, cry, crz; } goalfinder_result;
- interface->call(F("goalfinder"), goalid, sizeof(goalid), goalfinder_result, sizeof(goalfinder_result));
-
+ if(interface->call(F("goalfinder"), goalid, sizeof(goalid), &goalfinder_result, sizeof(goalfinder_result))){
+
+ }
if (goalfinder_result.crx == 0 && goalfinder_result.cry == 0){
return false;
} else {
- goalfinder.cid = id;
- goalfinder.ctx = tx;
- goalfinder.cty = ty;
- goalfinder.ctz = tz;
- goalfinder.crx = rx;
- goalfinder.cry = ry;
- goalfinder.crz = rz;
+ id = goalfinder_result.cid;
+ tx = goalfinder_result.ctx;
+ ty = goalfinder_result.cty;
+ tz = goalfinder_result.ctz;
+ rx = goalfinder_result.crx;
+ ry = goalfinder_result.cry;
+ rz = goalfinder_result.crz;
return true;
}
}
diff --git a/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_April_Tag/Camera.h b/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_April_Tag/Camera.h
index 95ac916..5a4536e 100644
--- a/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_April_Tag/Camera.h
+++ b/Code/Control/Feather Code - Zhaoliang/feather_main_test_PID_April_Tag/Camera.h
@@ -13,8 +13,7 @@ class Camera
bool exe_apriltag_detection(int ID,int *x_temp,int *y_temp,int *angle_temp);
bool exe_color_detection(int8_t l_min, int8_t l_max, int8_t a_min, int8_t a_max, int8_t b_min, int8_t b_max);
bool exe_color_detection_biggestblob(int8_t l_min, int8_t l_max, int8_t a_min, int8_t a_max, int8_t b_min, int8_t b_max, int& x, int&y);
- void exe_led_detection();
- bool exe_goalfinder(int goal1, int goal2, int goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz); //optional to add tag size as parameter?
+ bool exe_goalfinder(int8_t goal1, int8_t goal2, int8_t goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz); //optional to add tag size as parameter?
};
#endif
--
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