feat(PositionProcessing): Change pattern detection and robot id calcu…

…late (robocin#36)

* fix(PositionProcessing): removes old pattern detection

* wip: prints

* feat(videos): add new static video

* feat(PositionProcessing): add new robot id detection

* fix(RobotWidget): remove "gambiarra"

* fix(server): remove "gambiarra" id

* feat(PositionProcessing): Add old pattern detection possibility

* Revert "Merge branch 'new-pattern' into first-version"

This reverts commit 040de64.

* feat(Videos): add new video

* fix(RobotWidget): fix robot color at interface

* feat(PositionProcessing): add new filter for pattern detection

* fix(RobotWidget): adjusting color ids order

* fix(PositionProcessing): regions with less than three blobs skipped

* fix(Receiver): Multicast configuration

* fix(PositionProcessing): adjusting robot id (pink,green)

* fix(PositionProcessing): Checking valid id

* chore(videos): adding new tag pattern videos

* refactor(RobotWidget): update pattern draw

* refactor(PositionProcessing): update findTeam

* [wip] fix filterPattern

* [wip] fix id

* feat(PositionProcessing): add kalman filter

* fix(RobotWiget): adjust pattern draw

---------

Co-authored-by: acrucha <[email protected]>

client/python/receiver.py

@@ -22,13 +22,11 @@ def __init__(self,
         self.vision_ip = vision_ip
         self.vision_port = vision_port
 
-        self.vision_sock = socket.socket(
-            socket.AF_INET, socket.SOCK_DGRAM)
+        self.vision_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.vision_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-        self.vision_sock.setsockopt(socket.IPPROTO_IP, 
-                        socket.IP_MULTICAST_TTL, 128)
-        self.vision_sock.setsockopt(socket.IPPROTO_IP, 
-                        socket.IP_MULTICAST_LOOP, 1)
+        self.vision_sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 128)
+        self.vision_sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_LOOP, 1)
+        self.vision_sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, struct.pack("=4sl", socket.inet_aton(self.vision_ip), socket.INADDR_ANY))
         self.vision_sock.bind((self.vision_ip, self.vision_port))
 
         # self.vision_sock.setblocking(True)

src/Config/PositionProcessing.xml

@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <opencv_storage>
 <Default>
-  <minSize>95</minSize>
-  <maxSize>1000</maxSize>
-  <minSizeBall>784</minSizeBall>
+  <minSize>18</minSize>
+  <maxSize>760</maxSize>
+  <minSizeBall>52</minSizeBall>
   <maxSizeBall>733</maxSizeBall>
-  <blobMaxDist>100</blobMaxDist>
+  <blobMaxDist>500</blobMaxDist>
   <myTeam>2</myTeam>
   <enemyTeam>3</enemyTeam>
   <enemySearch>0</enemySearch>

src/Config/Segmentation/MaggicSegmentation.txt

@@ -1,10 +1,10 @@
 Maggic
-17 45
-45
+30 216
+53
 -1 4
 7 1
 43 3
 97 5
 140 7
-168 2
+151 2
 235 6

src/Config/Video.xml

@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <opencv_storage>
-<VIDEO_URL>/workspaces/vss-vision/videos/static5v5.mp4</VIDEO_URL>
+<VIDEO_URL>/home/robocin_vss/Videos/grav3.mp4</VIDEO_URL>
 </opencv_storage>

src/Network/visionServer/server.cpp

@@ -43,7 +43,7 @@ void VisionServer::send(std::vector<Entity> &entities) {
         } else{
             if((int)entities[i].team() == Color::YELLOW){
                 SSL_DetectionRobot *robot = frame->mutable_robots_yellow()->Add();
-                robot->set_robot_id(entities[i].id()-200);
+                robot->set_robot_id(entities[i].id());
                 robot->set_x(entities[i].position().x * 10);
                 robot->set_y(entities[i].position().y * 10);
                 robot->set_orientation(entities[i].angle());
@@ -52,7 +52,7 @@ void VisionServer::send(std::vector<Entity> &entities) {
                 robot->set_pixel_y(robot->y()*100);
             }else if((int)entities[i].team() == Color::BLUE){
                 SSL_DetectionRobot *robot = frame->mutable_robots_blue()->Add();
-                robot->set_robot_id(entities[i].id()-100);
+                robot->set_robot_id(entities[i].id());
                 robot->set_x(entities[i].position().x * 10);
                 robot->set_y(entities[i].position().y * 10);
                 robot->set_orientation(entities[i].angle());

src/Utils/Utils.cpp

@@ -30,8 +30,8 @@ double Utils::double_dif(double x, double y) {
   return ((x-y)*(x-y));
 }
 
-double Utils::euclideanDistance(cv::Point alfa, cv::Point beta) {
-  return sqrt((pow(alfa.x - beta.x, 2) + pow(alfa.y - beta.y, 2)));
+double Utils::sumOfSquares(cv::Point alfa, cv::Point beta) {
+  return (pow(alfa.x - beta.x, 2) + pow(alfa.y - beta.y, 2));
 }
 
 double Utils::angle(cv::Point alfa,cv::Point beta) {

src/Utils/Utils.h

@@ -114,7 +114,7 @@ namespace Utils {
    *
    * @return   Sum of squares between the two points
    */
-  double euclideanDistance(cv::Point alfa, cv::Point beta);
+  double sumOfSquares(cv::Point alfa, cv::Point beta);
 
   /**
    * @brief    Return the ajusted angle

src/Vision/PositionProcessing/BlobDetection.cpp

@@ -50,7 +50,6 @@ void BlobDetection::findBlobs(cv::Mat& debugFrame) {
       blob[i][j].valid = false;
       blob[i][j].position = cv::Point(0,0);
       blob[i][j].area = 0;
-      blob[i][j].distance = INT_MAX;
     }
   }