visionTrack.c 7.33 KB
 Timothy Stack committed Jan 17, 2005 1 2 3 4 5 6 7 8 9 10 11 `````` #include "config.h" #include #include #include #include "log.h" #include "visionTrack.h" `````` Timothy Stack committed Jan 18, 2005 12 13 14 15 16 17 18 19 20 ``````/** * Find the track in a list that is the minimum distance from a given track. * * @param vt The track to compare against the other tracks in the list. * @param curr The track in a list where the search should start. The function * will continue the search until it reaches the end of the list. * @param distance_out Reference to a float where the minimum distance found * should be stored. */ `````` Timothy Stack committed Jan 17, 2005 21 ``````static struct vision_track *vtFindMin(struct vision_track *vt, `````` Timothy Stack committed Jan 18, 2005 22 `````` struct vision_track *curr, `````` Timothy Stack committed Jan 17, 2005 23 24 `````` float *distance_out) { `````` Timothy Stack committed Jan 18, 2005 25 `````` struct vision_track *retval = NULL; `````` Timothy Stack committed Jan 17, 2005 26 27 `````` assert(vt != NULL); `````` Timothy Stack committed Jan 18, 2005 28 `````` assert(curr != NULL); `````` Timothy Stack committed Jan 17, 2005 29 30 31 32 33 34 35 36 37 `````` assert(distance_out != NULL); *distance_out = FLT_MAX; while (curr->vt_link.ln_Succ != NULL) { float distance; distance = hypotf(vt->vt_position.x - curr->vt_position.x, vt->vt_position.y - curr->vt_position.y); `````` Timothy Stack committed Jan 18, 2005 38 39 40 41 42 43 `````` printf(" min %f %f - %f %f = %f\n", vt->vt_position.x, vt->vt_position.y, curr->vt_position.x, curr->vt_position.y, distance); `````` Timothy Stack committed Jan 17, 2005 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 `````` if (distance < *distance_out) { retval = curr; *distance_out = distance; } curr = (struct vision_track *)curr->vt_link.ln_Succ; } return retval; } int vtUpdate(struct lnMinList *now, struct vmc_client *vc, struct mtp_packet *mp, struct lnMinList *pool) { int retval = 0; assert(now != NULL); assert(mp != NULL); switch (mp->data.opcode) { case MTP_CONTROL_ERROR: { struct mtp_control *mc; mc = &mp->data.mtp_payload_u.error; retval = (mc->code == MTP_POSITION_STATUS_CYCLE_COMPLETE); } break; case MTP_UPDATE_POSITION: { struct mtp_update_position *mup; struct vision_track *vt; mup = &mp->data.mtp_payload_u.update_position; vt = (struct vision_track *)lnRemHead(pool); assert(vt != NULL); vt->vt_position = mup->position; `````` Timothy Stack committed Jan 18, 2005 85 `````` vt->vt_client = vc; `````` Timothy Stack committed Jan 17, 2005 86 87 88 89 `````` vt->vt_age = 0; vt->vt_userdata = NULL; lnAddTail(now, &vt->vt_link); `````` Timothy Stack committed Jan 18, 2005 90 `````` /* Adjust the cameras viewable area based on this track. */ `````` Timothy Stack committed Jan 17, 2005 91 92 93 94 95 96 97 98 `````` if (mup->position.x < vc->vc_left) vc->vc_left = mup->position.x; if (mup->position.x > vc->vc_right) vc->vc_right = mup->position.x; if (mup->position.y < vc->vc_top) vc->vc_top = mup->position.y; if (mup->position.y > vc->vc_bottom) vc->vc_bottom = mup->position.y; `````` Timothy Stack committed Jan 18, 2005 99 100 101 102 103 104 105 106 `````` printf("vc %p %f %f %f %f\n", vc, vc->vc_left, vc->vc_right, vc->vc_top, vc->vc_bottom); `````` Timothy Stack committed Jan 17, 2005 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 `````` retval = (mup->status == MTP_POSITION_STATUS_CYCLE_COMPLETE); } break; default: error("unhandled vmc-client packet %d\n", mp->data.opcode); break; } return retval; } void vtCoalesce(struct lnMinList *extra, struct lnMinList *now, struct vmc_client *vc, unsigned int vc_len) { struct vision_track *vt; assert(extra != NULL); assert(now != NULL); assert(vc != NULL); assert(vc_len > 0); vt = (struct vision_track *)now->lh_Head; while (vt->vt_link.ln_Succ != NULL) { int in_camera_count = 0, lpc; `````` Timothy Stack committed Jan 18, 2005 134 135 136 137 138 `````` /* * Figure out how many cameras this track might be viewable in so we * can coalesce them. */ `````` Timothy Stack committed Jan 17, 2005 139 `````` for (lpc = 0; lpc < vc_len; lpc++) { `````` Timothy Stack committed Jan 18, 2005 140 141 142 143 144 145 146 147 148 ``````#if 0 printf("vc2 %f %f -- %f %f %f %f\n", vt->vt_position.x, vt->vt_position.y, vc[lpc].vc_left, vc[lpc].vc_right, vc[lpc].vc_top, vc[lpc].vc_bottom); #endif `````` Timothy Stack committed Jan 17, 2005 149 150 151 152 153 154 155 156 157 158 159 `````` if ((vt->vt_position.x >= vc[lpc].vc_left) && (vt->vt_position.x <= vc[lpc].vc_right) && (vt->vt_position.y >= vc[lpc].vc_top) && (vt->vt_position.y <= vc[lpc].vc_bottom)) { in_camera_count += 1; } } assert(in_camera_count > 0); if (in_camera_count > 1) { `````` Timothy Stack committed Jan 18, 2005 160 161 `````` struct vision_track *vt_extra; float distance; `````` Timothy Stack committed Jan 17, 2005 162 `````` `````` Timothy Stack committed Jan 18, 2005 163 164 165 166 167 168 169 `````` while ((in_camera_count > 1) && ((vt_extra = vtFindMin(vt, (struct vision_track *) vt->vt_link.ln_Succ, &distance)) != NULL) && (distance < 0.35)) { printf("coalesce %f %f -- %f %f\n", `````` Timothy Stack committed Jan 18, 2005 170 `````` vt->vt_position.x, vt->vt_position.y, `````` Timothy Stack committed Jan 18, 2005 171 `````` vt_extra->vt_position.x, vt_extra->vt_position.y); `````` Timothy Stack committed Jan 17, 2005 172 `````` `````` Timothy Stack committed Jan 18, 2005 173 174 175 176 `````` lnRemove(&vt_extra->vt_link); lnAddHead(extra, &vt_extra->vt_link); in_camera_count -= 1; `````` Timothy Stack committed Jan 17, 2005 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 `````` } } vt = (struct vision_track *)vt->vt_link.ln_Succ; } } void vtMatch(struct lnMinList *pool, struct lnMinList *prev, struct lnMinList *now) { struct vision_track *vt; assert(pool != NULL); assert(prev != NULL); assert(now != NULL); `````` Timothy Stack committed Jan 18, 2005 194 195 196 197 `````` /* * Walk through the tracks in the current frame trying to find tracks in * the previous frame, within some threshold. */ `````` Timothy Stack committed Jan 17, 2005 198 199 200 201 202 `````` vt = (struct vision_track *)now->lh_Head; while (vt->vt_link.ln_Succ != NULL) { struct vision_track *vt_prev; float distance; `````` Timothy Stack committed Jan 18, 2005 203 204 205 `````` if ((vt_prev = vtFindMin(vt, (struct vision_track *)prev->lh_Head, &distance)) != NULL) { `````` Timothy Stack committed Jan 18, 2005 206 `````` if (distance < 0.30) { `````` Timothy Stack committed Jan 17, 2005 207 208 209 210 211 212 213 214 215 `````` vt->vt_userdata = vt_prev->vt_userdata; lnRemove(&vt_prev->vt_link); lnAddHead(pool, &vt_prev->vt_link); } } vt = (struct vision_track *)vt->vt_link.ln_Succ; } `````` Timothy Stack committed Jan 18, 2005 216 217 218 219 `````` /* * Walk through the previous frame copying any young tracks to the current * frame. */ `````` Timothy Stack committed Jan 17, 2005 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 `````` vt = (struct vision_track *)prev->lh_Head; while (vt->vt_link.ln_Succ != NULL) { struct vision_track *vt_next; vt_next = (struct vision_track *)vt->vt_link.ln_Succ; if (vt->vt_age < 5) { vt->vt_age += 1; lnRemove(&vt->vt_link); lnAddHead(now, &vt->vt_link); } vt = vt_next; } } void vtUnknownTracks(struct lnMinList *unknown, struct lnMinList *mixed) { struct vision_track *vt; assert(unknown != NULL); assert(mixed != NULL); vt = (struct vision_track *)mixed->lh_Head; while (vt->vt_link.ln_Succ != NULL) { struct vision_track *vt_succ; vt_succ = (struct vision_track *)vt->vt_link.ln_Succ; if (vt->vt_userdata == NULL) { lnRemove(&vt->vt_link); lnAddTail(unknown, &vt->vt_link); } vt = vt_succ; } } struct vision_track *vtFindWiggle(struct lnMinList *start, struct lnMinList *now) { struct vision_track *vt, *retval = NULL; assert(start != NULL); assert(now != NULL); `````` Timothy Stack committed Jan 18, 2005 265 266 267 268 `````` /* * Walk through the current frame searching for tracks that have a small * displacement from the start frame and large orientation change. */ `````` Timothy Stack committed Jan 17, 2005 269 270 271 272 `````` vt = (struct vision_track *)now->lh_Head; while ((vt->vt_link.ln_Succ != NULL) && (retval == NULL)) { struct vision_track *vt_start; float distance; `````` Timothy Stack committed Jan 18, 2005 273 274 275 276 277 278 279 280 `````` printf("check %f %f %f\n", vt->vt_position.x, vt->vt_position.y, vt->vt_position.theta); if ((vt_start = vtFindMin(vt, (struct vision_track *)start->lh_Head, &distance)) == NULL) { `````` Timothy Stack committed Jan 17, 2005 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 `````` } else if (distance < 0.05) { float diff; diff = mtp_theta(mtp_theta(vt_start->vt_position.theta) - mtp_theta(vt->vt_position.theta)); printf("diff = %f %f - %f\n", diff, mtp_theta(vt_start->vt_position.theta), mtp_theta(vt->vt_position.theta)); printf("diff2 = %f %f - %f\n", mtp_theta(vt_start->vt_position.theta) - mtp_theta(vt->vt_position.theta), vt_start->vt_position.theta, vt->vt_position.theta); if (diff > (M_PI - M_PI_4) || (diff < (-M_PI + M_PI_4))) { retval = vt; `````` Timothy Stack committed Jan 18, 2005 298 `````` printf(" found it %p\n", retval); `````` Timothy Stack committed Jan 17, 2005 299 300 `````` } } `````` Timothy Stack committed Jan 18, 2005 301 302 `````` printf("dist %p %f\n", vt_start, distance); `````` Timothy Stack committed Jan 17, 2005 303 304 305 306 307 `````` vt = (struct vision_track *)vt->vt_link.ln_Succ; } return retval; }``````