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-rw-r--r--horizon_steerer.cpp10
-rw-r--r--mariokart.cpp14
2 files changed, 15 insertions, 9 deletions
diff --git a/horizon_steerer.cpp b/horizon_steerer.cpp
index f15be84..7627c10 100644
--- a/horizon_steerer.cpp
+++ b/horizon_steerer.cpp
@@ -81,10 +81,12 @@ int HorizonSteerer::find_intersection_index(int x0, int y0, int x1, int y1, int*
for(;;)
{
+ if (x0<0 || x0>=xlen || y0<0 || y0>=ylen) break;
+
//setPixel(x0,y0);
if (contour_map[x0][y0]>0) return contour_map[x0][y0]; // found intersection?
- if (contour_map[x0][y0+1]>0) return contour_map[x0][y0+1];
- if (contour_map[x0+1][y0]>0) return contour_map[x0+1][y0];
+ if (y0+1<ylen && contour_map[x0][y0+1]>0) return contour_map[x0][y0+1];
+ if (x0+1<xlen && contour_map[x0+1][y0]>0) return contour_map[x0+1][y0];
@@ -408,7 +410,9 @@ int HorizonSteerer::find_bestquality_index(const vector<Point>& contour, double*
// ang_deriv[i] >= MAX_HYST * max_deriv \forall i \in [a,b] and
// ang_deriv[a-1,2,3], ang_deriv[b+1,2,3] < MAX_HYST * max_deriv
// where max_deriv = max_{i \in [a,b]} ang_deriv[i];
- for (int j=3; j<contour.size()-3; j++)
+
+ // TODO BUG: better assert contour.size()>3 somewhere
+ for (int j=3; j<(int)contour.size()-3; j++)
{
// search forward for a maximum, and the end of a maximum region.
if (angle_derivative[j] > lastmax) lastmax=angle_derivative[j];
diff --git a/mariokart.cpp b/mariokart.cpp
index cdc3d60..4b8bee5 100644
--- a/mariokart.cpp
+++ b/mariokart.cpp
@@ -307,7 +307,7 @@ joystick.reset();
SteerIface* steerer = new NaiveSteerer(xlen/2, 0.58*ylen);
-// HorizonSteerer* hor_steerer = new HorizonSteerer(xlen,ylen);
+ HorizonSteerer* hor_steerer = new HorizonSteerer(xlen,ylen);
RoadThresholderIface* road_thresholder = new RoadThresholder();
while(1)
@@ -389,15 +389,17 @@ joystick.reset();
*/
- img.row(crosshair_y)=Scalar(255,0,0);
- img.col(crosshair_x)=Scalar(255,0,0);
- img_thres2.row(crosshair_y)=128;
- img_thres2.col(crosshair_x)=128;
steerer->process_image(img_thres2);
double steer_value = steerer->get_steer_data();
-// hor_steerer->process_image(img_thres2);
+ hor_steerer->process_image(img_thres2);
+
+
+ img.row(crosshair_y)=Scalar(255,0,0);
+ img.col(crosshair_x)=Scalar(255,0,0);
+ img_thres2.row(crosshair_y)=128;
+ img_thres2.col(crosshair_x)=128;
Mat steer=Mat::zeros(20,1920,CV_8U);
steer.col( steer.cols /2 )=128;