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/*
* naive_steerer.cpp
*
* Copyright 2012 Florian Jung <florian.a.jung@web.de>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License Version 3
* as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "naive_steerer.h"
#include "util.h"
using namespace std;
NaiveSteerer::NaiveSteerer(int chx, int chy)
{
set_crosshair(chx,chy);
}
void NaiveSteerer::set_crosshair(int chx, int chy)
{
crosshair_x=chx;
crosshair_y=chy;
}
void NaiveSteerer::process_image(const Mat& img)
{
int left_sum=0, right_sum=0;
for (int row = 0; row<img.rows; row++)
{
const uchar* data=img.ptr<uchar>(row);
for (int col=0; col<img.cols;col++)
{
if (*data)
{
if (row<=crosshair_y)
{
if (col < crosshair_x)
left_sum++;
else
right_sum++;
}
}
data+=img.step[1];
}
}
steer = -4* flopow( (((float)left_sum / (left_sum+right_sum))-0.5 )*2.0 , 1.6);
}
double NaiveSteerer::get_steer_data()
{
return steer;
}
double NaiveSteerer::get_confidence()
{
//return confidence;
return 1.0; // TODO
}
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