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emulation on both roles and diff config for each role #51

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emulation on both roles and diff config for each role #51

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43 changes: 33 additions & 10 deletions CV/CV.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -191,6 +191,7 @@ static bool runCV(int role, cv::Mat &image, cv::Mat &output, std::vector<cv::Vec
Mat original, rgbImage, ogImage, hsvImage, lowerRed, upperRed, redImage, blurImage, morphImage, temp;
bool drawCircles = false, found_ball = false;
int minRadius = 0;
int reliability = 5;
size_t i;

//Copy the original image for modifications
Expand Down Expand Up @@ -223,10 +224,11 @@ static bool runCV(int role, cv::Mat &image, cv::Mat &output, std::vector<cv::Vec
//Change min radius size if image is not resized
if (role) {
minRadius = 25;
reliability = 15;
}
// Apply Hough Transform to detect circles in redImage
/* TODO readjust min, max (200) radius */
cv::HoughCircles(morphImage, circles, CV_HOUGH_GRADIENT, 1, morphImage.rows/16, 100, 10, 0, 0);
cv::HoughCircles(morphImage, circles, CV_HOUGH_GRADIENT, 1, morphImage.rows/16, 100, reliability, minRadius, 0);

if (circles.size() > 0) {
/*
Expand Down Expand Up @@ -265,6 +267,7 @@ static bool findBall(int role, cv::Mat &image, cv::Mat &output, std::vector<cv::
}
//Add GPS Calc and replace boolean return
} else if (role == DEPTH_SEARCH) {
#ifndef EMULATION
//Lock thread access: Stops the PNav system from accessing the foundBall boolean
CeeToPee.CV_lock();
//Get current drone positional information
Expand All @@ -274,6 +277,7 @@ static bool findBall(int role, cv::Mat &image, cv::Mat &output, std::vector<cv::
droneGPS.yaw = float(PeeToCee.get_yaw()) * N_TEN_TO_SECOND;
droneGPS.pitch = PeeToCee.get_pitch();
droneGPS.roll = PeeToCee.get_role();
#endif

// Call CV function:
if (found_ball = runCV(role, image, output, circles)) {
Expand All @@ -283,10 +287,12 @@ static bool findBall(int role, cv::Mat &image, cv::Mat &output, std::vector<cv::
CeeToPee.set_ball_lat(int(ballGPS.lat * TEN_TO_SEVENTH));
CeeToPee.set_ball_lon(int(ballGPS.lon * TEN_TO_SEVENTH));
}
#ifndef EMULATION
//Unlock Thread access: PNav system can now access bool and continue on
CeeToPee.CV_unlock();
//Stop it from running
PeeToCee.set_CV_start(false);
#endif
}
#ifdef DEBUG
// Print output image for debugging
Expand Down Expand Up @@ -323,7 +329,6 @@ static void grabFrame(raspicam::RaspiCam_Cv &cam, int &ctr, cv::Mat &image) {

cam.grab();
cam.retrieve(image);
cv::cvtColor(image, image, cv::COLOR_RGB2BGR);

cv::imwrite(imageHeader + std::to_string(ctr) + ".jpg", image);
}
Expand All @@ -335,6 +340,8 @@ void frameLoop(unsigned int &nCaptures, configContainer *configs, Log &logger) {
#ifdef EMULATION
int false_positive = 0;
int false_negative = 0;
int part_ball = 0;
int role = 0;
std::cerr << "Emulation: cancel camera setup\n";
#else
raspicam::RaspiCam_Cv cam;
Expand All @@ -355,17 +362,19 @@ void frameLoop(unsigned int &nCaptures, configContainer *configs, Log &logger) {
if (PeeToCee.CV_start()) {
#ifdef EMULATION
emulateFrame(image, ctr);
CV_found = findBall(role, image, output, circles);
#else
grabFrame(cam, ctr, image);
CV_found = findBall(PeeToCee.get_role(), image, output, circles);
#endif

CV_found = findBall(PeeToCee.get_role(), image, output, circles);

#ifdef EMULATION
if (CV_found == 0 && ctr <= 72){
false_negative++;
} else if (CV_found == 1 && ctr > 72){
} else if (CV_found == 1 && ctr > 72 && ctr < (72 + 42)){
false_positive++;
} else if ( CV_found && ctr >= (72 + 42) ) {
part_ball++;
}
printf("Image %d, ball_found: %d\n", ctr, CV_found);
#endif
Expand All @@ -376,8 +385,25 @@ void frameLoop(unsigned int &nCaptures, configContainer *configs, Log &logger) {
ctr++;
#ifdef EMULATION
if (ctr == 120){
nextFrame = false;
}
if (role == 1){
nextFrame = false;
std::cerr << "Detailed search results\n" << std::endl;
} else {
role++;
ctr = 1;
std::cerr << "Quick search results\n" << std::endl;
std::cerr << "Beginning Detail Search Emulation\n" << std::endl;
}

printf("False Negatives: %d\n", false_negative);
printf("False Positives: %d\n", false_positive);
printf("Part Ball Positives: %d\n", part_ball);

false_negative = 0;
false_positive = 0;
part_ball = 0;

}
#else
//Possibly remove if not needed for actual run
nextFrame = nCaptures++ > MAX_IMGS ? false : true;
Expand All @@ -387,9 +413,6 @@ void frameLoop(unsigned int &nCaptures, configContainer *configs, Log &logger) {

#ifndef EMULATION
cam.release();
#else
printf("False Negatives: %d\n", false_negative);
printf("False Positives: %d\n", false_positive);
#endif
}

Expand Down