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[201903hackathon.git]
/
cpp
/
openCVnaiveObstacleAvoidance
/
openCVnaiveObstacleAvoidance.cpp
diff --git
a/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
b/cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
index
6170396
..
5849e23
100644
(file)
--- a/
cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
+++ b/
cpp/openCVnaiveObstacleAvoidance/openCVnaiveObstacleAvoidance.cpp
@@
-54,6
+54,11
@@
class MyListener : public IDepthDataListener
const uint8_t confidence_threshold_ = 0;
const double distance_threshold_ = 80;
const uint8_t confidence_threshold_ = 0;
const double distance_threshold_ = 80;
+ const string bobbycar_stop = "s";
+ const string bobbycar_forward = "f";
+ const string bobbycar_left = "l";
+ const string bobbycar_right = "r";
+
public :
public :
@@
-266,16
+271,22
@@
private:
assert(num_dist_columns_ == 4);
if (free_paths[1] && free_paths[2])
{
assert(num_dist_columns_ == 4);
if (free_paths[1] && free_paths[2])
{
- std::cout << "GOSTRAIGHT" << std::endl;
+ //std::cout << "GOSTRAIGHT" << std::endl;
+ std::cout << bobbycar_forward << std::endl;
} else if (free_paths[0])
{
} else if (free_paths[0])
{
- std::cout << "GOLEFT" << std::endl;
+ std::cout << bobbycar_left << std::endl;
+ // std::cout << "GOLEFT" << std::endl;
} else if (free_paths[3])
{
} else if (free_paths[3])
{
- std::cout << "GORIGHT" << std::endl;
+ // std::cout << "GORIGHT" << std::endl;
+ std::cout << bobbycar_right << std::endl;
} else {
} else {
- std::cout << "STOP" << std::endl;
+ // std::cout << "STOP" << std::endl;
+ std::cout << bobbycar_stop << std::endl;
}
}
+ } else {
+ std::cout << bobbycar_forward << std::endl;
}
}
}
}
@@
-323,7
+334,7
@@
int main (int argc, char *argv[])
{
// if no argument was given try to open the first connected camera
royale::Vector<royale::String> camlist (manager.getConnectedCameraList());
{
// if no argument was given try to open the first connected camera
royale::Vector<royale::String> camlist (manager.getConnectedCameraList());
- cout << "Detected " << camlist.size() << " camera(s)." << endl;
+ //cout << "Detected " << camlist.size() << " camera(s)." << endl;
if (!camlist.empty())
{
if (!camlist.empty())
{
@@
-393,7
+404,9
@@
int main (int argc, char *argv[])
// set an operation mode
// set an operation mode
- if (cameraDevice->setUseCase ("MODE_5_45FPS_500") != royale::CameraStatus::SUCCESS)
+ // if (cameraDevice->setUseCase ("MODE_5_45FPS_500") != royale::CameraStatus::SUCCESS)
+ // if (cameraDevice->setUseCase ("MODE_9_10FPS_1000") != royale::CameraStatus::SUCCESS)
+ if (cameraDevice->setUseCase ("MODE_9_5FPS_2000") != royale::CameraStatus::SUCCESS)
{
cerr << "Error setting use case" << endl;
return 1;
{
cerr << "Error setting use case" << endl;
return 1;