void BallDetector::execute()
{
//if there is no field percept, then, there is also no goal ?!
/*
if(!getFieldPercept().isValid())
{
getBallPercept().ballWasSeen = false;
return;
}
*/
getBallPercept().reset();
//initialize blob finder
//theBlobFinder.init();
BlobList blobList;
//WholeArea wholeImageArea;
//search only if field is marked as valid
if(getFieldPercept().isValid())
{
//theBlobFinder.execute(blobList, connectedColors, wholeImageArea);
STOPWATCH_START("BallDetector ~ BlobFinder");
theBlobFinder.execute(blobList, connectedColors, getFieldPercept().getLargestValidPoly());
STOPWATCH_STOP("BallDetector ~ BlobFinder");
}
// draw deteced blobs
DEBUG_REQUEST("ImageProcessor:BallDetector:mark_ball_blob",
for(int i = 0; i < blobList.blobNumber; i++)
{
const Blob& blob = blobList.blobs[i];
RECT_PX(ColorClasses::orange,
(unsigned int)(blob.upperLeft.x),
(unsigned int)(blob.upperLeft.y),
(unsigned int)(blob.lowerRight.x),
(unsigned int)(blob.lowerRight.y));
CIRCLE_PX(ColorClasses::orange, blob.centerOfMass.x, blob.centerOfMass.y, 4);
}//end for
);
int
main(void)
{
unsigned int cycles = 1;
unsigned int run_for = 2;
unsigned int i;
STOPWATCH_INIT(a);
STOPWATCH_START(a);
/**
* Calibrating the number of cycles so that the whole wait_for() process takes
* more than 400ms.
* This is not, and is not supposed to be, scientifically accurate. F.ex. possible
* application scheduling may mess this up.
*
*/
do {
cycles *= 10;
wait_for(cycles);
STOPWATCH_STOP(a);
i = STOPWATCH_ELAPSED_US(a);
} while (i < 400000);
printf("Cycles calibrated to %u\nRunning for %d+ seconds\n\n", cycles, run_for);
/**
* Do wait_for() loops until run_for seconds has passed.
* Then print out the elapsed time and do some simple comparison.
*
*/
STOPWATCH_START(a);
do {
wait_for(cycles);
STOPWATCH_STOP(a);
i = STOPWATCH_ELAPSED_S(a);
} while (i < run_for);
STOPWATCH_PRINT(a);
double const elap = STOPWATCH_ELAPSED_F(a);
int const elap_s = STOPWATCH_ELAPSED_S(a);
int const elap_us = STOPWATCH_ELAPSED_US(a);
struct timeval *const tval = (struct timeval *) malloc(sizeof(struct timeval));
STOPWATCH_TO_TIMEVAL(*tval, a);
printf("Elapsed in floating point value: %f\n", elap);
printf("Elapsed seconds: %d%s\n", elap_s, elap_s != (int) elap ? " <== BUG!": "");
printf("Elapsed micro seconds: %d%s\n", elap_us, elap_us != ((int) (elap * 1000000 + 0.5)) % 1000000 ? " <== BUG!": "");
printf("Copy to timeval %ld.%06lu%s\n", tval->tv_sec, tval->tv_usec, tval->tv_sec != elap_s || tval->tv_usec != elap_us ? " <== BUG!" : "");
free(tval);
return 0;
}
