diff options
| -rw-r--r-- | mariokart01.cpp | 50 |
1 files changed, 45 insertions, 5 deletions
diff --git a/mariokart01.cpp b/mariokart01.cpp index 88ffdce..e48b67f 100644 --- a/mariokart01.cpp +++ b/mariokart01.cpp @@ -349,6 +349,8 @@ void Joystick::reset() #define ERODE_RADIUS_2D 4 +#define IMG_HISTORY 3 + Mat circle_mat(int radius) { @@ -391,6 +393,8 @@ float flopow(float b, float e) int main(int argc, char* argv[]) { +try { + string tmp; Joystick joystick; @@ -398,7 +402,7 @@ int main(int argc, char* argv[]) cout << "joystick initalized, now starting mupen." << endl; - if (fork()==0) system("mupen64plus --nogui --noask ~/MarioKart64.rom"); + if (fork()==0) { system("mupen64plus --nogui --noask ~/MarioKart64.rom"); exit(0); } sleep(1); @@ -445,6 +449,7 @@ int main(int argc, char* argv[]) bool first=true; int xlen, ylen; + Mat erode_2d_small=circle_mat(3); Mat erode_2d_big=circle_mat(10); #define trans_width 600 @@ -456,11 +461,15 @@ int main(int argc, char* argv[]) joystick.throttle(0.5); + Mat img_history[IMG_HISTORY]; + int history_pointer=0; + while(1) { Mat img_; - capture.read(img_); + + capture.read(img_); if (first) { @@ -472,7 +481,6 @@ int main(int argc, char* argv[]) 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); - first=false; } assert ((img_.cols==xlen) && (img_.rows==ylen)); @@ -585,10 +593,27 @@ int main(int argc, char* argv[]) 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, Mat::ones(3, 3, CV_8U)); - dilate(img_eroded, img_thres2, Mat::ones(3, 3, CV_8U)); + erode(img_thres, img_eroded, erode_2d_small); + dilate(img_eroded, img_thres2, erode_2d_small); + img_thres2.copyTo(img_thres); + + + img_thres.copyTo(img_history[history_pointer]); + + Mat historized=img_history[0]/IMG_HISTORY; + for (int i=1; i<IMG_HISTORY; i++) + if (historized.cols == img_history[i].cols) + historized+=img_history[i]/IMG_HISTORY; + + history_pointer=(history_pointer+1)%IMG_HISTORY; + + dilate(img_thres2, img_eroded, erode_2d_big); erode(img_eroded, img_thres2, erode_2d_big); + + + + assert(img.rows==img_eroded.rows); assert(img.cols==img_eroded.cols); @@ -714,6 +739,9 @@ int main(int argc, char* argv[]) else joystick.steer(0.0); + + + //imshow("orig", img); imshow("edit", img2); //imshow("perspective", img_perspective); @@ -721,6 +749,7 @@ int main(int argc, char* argv[]) imshow("hist", img_hist); imshow("thres", img_thres); imshow("thres2", img_thres2); + imshow("history", historized); //imshow("stddev", img_stddev); imshow("steer", steer); @@ -731,4 +760,15 @@ int main(int argc, char* argv[]) joystick.process(); //waitKey(); } + +} //try +catch(string meh) +{ + cout << "error: "<<meh<< endl; +} +catch(...) +{ + cout << "error!" << endl; +} + } |