diff options
| -rw-r--r-- | mariokart01.cpp | 52 |
1 files changed, 40 insertions, 12 deletions
diff --git a/mariokart01.cpp b/mariokart01.cpp index e48b67f..b5a5a9b 100644 --- a/mariokart01.cpp +++ b/mariokart01.cpp @@ -223,7 +223,7 @@ class Joystick Joystick(); ~Joystick(); - void steer(float dir); + void steer(float dir, float dead_zone=0.0); void throttle(float t); void press_a(bool); @@ -242,7 +242,7 @@ Joystick::Joystick() { fd = open("/dev/uinput", O_WRONLY | O_NONBLOCK); if(fd < 0) { - cerr << "open failed" << endl; + cerr << "open uinput failed. do you have privilegies to access it? (try chown flo:root /dev/uinput)" << endl; exit(EXIT_FAILURE); } @@ -282,11 +282,13 @@ Joystick::~Joystick() close(fd); } -void Joystick::steer(float dir) +void Joystick::steer(float dir, float dead_zone) { if (dir<-1.0) dir=-1.0; if (dir>1.0) dir=1.0; + if (fabs(dir)<dead_zone) dir=0.0; + struct input_event ev; ev.type=EV_ABS; ev.code=ABS_X; @@ -461,6 +463,10 @@ try { joystick.throttle(0.5); + + VideoWriter img_writer, thres_writer, thres2_writer; + + Mat img_history[IMG_HISTORY]; int history_pointer=0; @@ -476,11 +482,24 @@ try { xlen=img_.cols; ylen=img_.rows; + crosshair_x=xlen/2; + crosshair_y=0.58*ylen; + Point2f src_pts[4] = { Point2f(0, ylen), Point2f(xlen, ylen), Point2f(xlen* (.5 - 0.13), ylen/2), Point2f(xlen* (.5 + .13), ylen/2) }; //Point2f dest_pts[4] = { Point2f(0, ylen), Point2f(trans_width, ylen), Point2f(0, trans_height), Point2f(0, trans_height) }; Point2f dest_pts[4] = { Point2f(trans_width/2 - road_width/2, trans_height), Point2f(trans_width/2 + road_width/2, trans_height), Point2f(trans_width/2 - road_width/2, trans_height/2), Point2f(trans_width/2 + road_width/2, trans_height/2) }; transform=getPerspectiveTransform(src_pts, dest_pts); + //img_writer.open("img.mpg", CV_FOURCC('P','I','M','1'), 30, Size(xlen,ylen), false); + img_writer.open("img.mpg", CV_FOURCC('P','I','M','1'), 30, Size(xlen,ylen), false); + thres_writer.open("thres.mpg", CV_FOURCC('P','I','M','1'), 30, Size(xlen,ylen), false); + thres2_writer.open("thres2.mpg", CV_FOURCC('P','I','M','1'), 30, Size(xlen,ylen), false); + + if (!img_writer.isOpened() || !thres_writer.isOpened() || !thres2_writer.isOpened()) + { + cout << "ERROR: could not open video files!" << !img_writer.isOpened() << !thres_writer.isOpened() << !thres2_writer.isOpened() <<endl; + } + first=false; } assert ((img_.cols==xlen) && (img_.rows==ylen)); @@ -589,13 +608,19 @@ try { threshold(img_diff, img_thres, thres, 255, THRESH_BINARY_INV); Mat img_eroded(img_thres.rows, img_thres.cols, img_thres.type()); + Mat img_tmp(img_thres.rows, img_thres.cols, img_thres.type()); Mat img_thres2(img_thres.rows, img_thres.cols, img_thres.type()); Mat img_stddev(img_thres.rows, img_thres.cols, img_thres.type()); img_stddev=Mat::zeros(img_thres.rows, img_thres.cols, img_thres.type()); - erode(img_thres, img_eroded, erode_2d_small); - dilate(img_eroded, img_thres2, erode_2d_small); - img_thres2.copyTo(img_thres); + erode(img_thres, img_tmp, erode_2d_small); + img_tmp.copyTo(img_eroded); + dilate(img_tmp, img_thres, erode_2d_small); + + dilate(img_thres, img_tmp, erode_2d_big); + erode(img_tmp, img_thres2, erode_2d_big); + + img_thres.copyTo(img_history[history_pointer]); @@ -608,8 +633,6 @@ try { history_pointer=(history_pointer+1)%IMG_HISTORY; - dilate(img_thres2, img_eroded, erode_2d_big); - erode(img_eroded, img_thres2, erode_2d_big); @@ -734,7 +757,7 @@ try { steer.col(x+1)=240; - joystick.steer(- 5* flopow( (((float)left_sum / (left_sum+right_sum))-0.5 )*2.0 , 1.1) ); + joystick.steer(- 5* flopow( (((float)left_sum / (left_sum+right_sum))-0.5 )*2.0 , 1.1) ,0.05); } else joystick.steer(0.0); @@ -755,10 +778,15 @@ try { Mat road_color(100,100, CV_8UC3, Scalar(road_0, road_1, road_2)); imshow("road_color", road_color); - waitKey(1000/50); - + + + + img_writer << img_diff; + thres_writer << img_thres; + thres2_writer << img_thres2; + + waitKey(1000/50); joystick.process(); - //waitKey(); } } //try |