cvhuigui entfernt, livetest-scripts angepasst

buoy.orogen

@@ -149,3 +149,10 @@ task_context "Detector" do
    port_driven("frame")
 end
 
+deployment "buoy_test" do
+  task "buoy_survey", "buoy::Survey"
+  task "buoy_detector", "buoy::Detector"
+
+  add_default_logger
+end
+

scripts/livetest.rb

@@ -3,20 +3,28 @@
 include Orocos
 
 Orocos::CORBA.name_service = "192.168.128.51"
+
+
 Orocos.initialize
 
 #Orocos.run "buoydetector" do 
-Orocos.run("buoydetector_test" => nil, :wait => 20) do
-  detector = Orocos::TaskContext.get "buoydetector_test"
+Orocos.run("buoy_test" => nil, :wait => 20) do
+  survey = Orocos::TaskContext.get "buoy_survey"
+  detector = Orocos::TaskContext.get "buoy_detector"
   camera = Orocos::TaskContext.get "front_camera"
 
  #Vizkit.display detector.buoy
   #Vizkit.display detector.relative_position
 
   camera.frame.connect_to detector.frame
+  detector.buoy.connect_to survey.input_buoy
+
   detector.configure
   detector.start
 
+  survey.configure
+  survey.start
+
    Vizkit.display camera.frame
 
   begin

scripts/livetest_simulation.rb

@@ -8,20 +8,25 @@
 Orocos.initialize
 
 #Orocos.run "buoydetector" do 
-Orocos.run("buoydetector_test" => nil, :wait => 20) do
-  detector = TaskContext.get "buoydetector_test"
-  #camera = Orocos::TaskContext.get "front_camera"
-  camera = TaskContext.get 'front_camera_simulation'
+Orocos.run("buoy_test" => nil, :wait => 20) do
+  survey = Orocos::TaskContext.get "buoy_survey"
+  detector = Orocos::TaskContext.get "buoy_detector"
+  camera = TaskContext.get 'front_camera'
 #  camera.start
 
   buoy_monitor = Vizkit.display detector.buoy
 
-  Vizkit.display detector.relative_position
+  Vizkit.display survey.relative_position
 
   camera.frame.connect_to detector.frame
+  detector.buoy.connect_to survey.input_buoy
+
   detector.configure
   detector.start
 
+  survey.configure
+  survey.start
+
 #   Vizkit.display camera.frame
 
   begin

tasks/Detector.cpp

@@ -16,7 +16,6 @@ int buoys_buffer_size=5,buoys_buffer_size_min=3,startvalidation=100,mindist=100,
 int vValue = 0;
 int hValue = 0;
 int sValue = 0;
-bool debug_gui = true;
 
 using namespace avalon;
 using namespace buoy;
@@ -106,23 +105,6 @@ bool Detector::startHook()
     filter.setMindist(mindist);
     filter.setMaxage(maxage,true);
 
-	if(_debug_gui){
-		cvNamedWindow(GUI_WINDOW_NAME, CV_WINDOW_NORMAL);
-		cvResizeWindow(GUI_WINDOW_NAME, 800, 600);
-		cvNamedWindow("Trackbars",CV_WINDOW_NORMAL);
-
-
-		cvCreateTrackbar("Hue Threshold", "Trackbars", &hValue, 255, on_change_Hvalue);
-		cvCreateTrackbar("Saturation Threshold", "Trackbars", &sValue, 255, on_change_Svalue);
-		cvCreateTrackbar("Hough Threshold", "Trackbars", &houghTh, 256, on_change_hough_th);
-		cvCreateTrackbar("Sobel Threshold", "Trackbars", &edgeTh, 256, on_change_edge_th);
-
-		//cvCreateTrackbar("bufferSize", "Trackbars", &buoys_buffer_size, 30, on_change_bufferSize);
-		//cvCreateTrackbar("bufferSizeMin", "Trackbars", &buoys_buffer_size_min, 15, on_change_bufferSizeMin);
-		//cvCreateTrackbar("startValidation", "Trackbars", &startvalidation, 200, on_change_startVal);
-		//cvCreateTrackbar("mindist", "Trackbars", &mindist, 300, on_change_mindist);
-		cvCreateTrackbar("maxage in 10ms", "Trackbars", &maxage, 500, on_change_maxage);	
-	}
 	return true;
 }
 
@@ -146,38 +128,17 @@ void Detector::updateHook()
     }
 	bool testMode = false;
 
-    if(_debug_gui){
-		detector.configureHoughThreshold(houghTh);
-		detector.configureEdgeThreshold(edgeTh);
-
-		filter.setBufferSize(buoys_buffer_size);
-        filter.setMinSize(buoys_buffer_size_min);
-        filter.setStartval(startvalidation);
-        filter.setMindist(mindist);
-        filter.setMaxage(maxage,true);
-		testMode = true;
-    }else{
-		filter.setMaxage((double)_filter_timeout);
-	}
+	filter.setMaxage((double)_filter_timeout);
 
-	BuoyFeatureVector result = detector.buoyDetection(&image, hValue, sValue, _debug_gui);
+	BuoyFeatureVector result = detector.buoyDetection(&image, _hValue.get(), _sValue.get(), false);
 	filter.feed(result);
 
-	if(_debug_gui){
-        for(unsigned int i=0;i<result.size();i++)
-        {
-            BuoyDetector::draw(&image, result[i], CV_RGB(0,0,255));
-        }
-	}
 
     BuoyFeatureVector vector = filter.process();
 		//wenn die boje gefunden wurde schreibe sie raus
     if (vector.size() > 0 && vector.front().validation>-1) {
         feature::Buoy& buoy=vector.front();
         //vector.front()=buoy;
-        if(_debug_gui){
-            BuoyDetector::draw(&image, buoy,CV_RGB(255, 0, 0));
-        }
         _buoy.write(buoy);
 		current_state = BUOY_FOUND;
     }else { //wenn keine boje gefunden wurde, schreibe eine neue mit negativem Radius
@@ -194,9 +155,5 @@ void Detector::updateHook()
 
 void Detector::cleanupHook() {
 	DetectorBase::cleanupHook();
-
-    if(_debug_gui){
-		cvDestroyWindow(GUI_WINDOW_NAME);
-    }
 }
 

tasks/Detector.hpp

@@ -4,7 +4,6 @@
 #define BUOY_DETECTOR_TASK_HPP
 
 #include "opencv/cv.h"
-#include "opencv/highgui.h"
 #include "buoy/DetectorBase.hpp"
 #include "visual_detectors/buoy_detector.h"
 #include "visual_detectors/buoy_estimation_filter.h"