a lot of debug msg

visrob2/src/integrando/clasification.c

@@ -114,7 +114,7 @@ struct blob* vision_cls_getNextFrame(unsigned short int force_frame) {
 			blobs = iVisionModule_getNextFrame(HaViMo_id);
 		}
 	} else {
-		if(blobs == NULL) return NULL;
+		if(blobs == NULL) { printf("null blobs\n"); return NULL; }
 	}
 
 	//Preprocesamiento del array de blobs
@@ -123,17 +123,20 @@ struct blob* vision_cls_getNextFrame(unsigned short int force_frame) {
 	unsigned short int blobs_merged;
 	do {
 		blobs_merged = 0;
-		for(i = 0; i < CANT_REGIONS; i++) {
-			if(blobs[i].region_index != INVALID_REGION) {
+		for(i = 0; i < CANT_REGIONS; i++) {
+		    printf("procesar\n");
+			if(blobs[i].region_index != INVALID_REGION) {
+			    printf("no es invalida\n");
 				if(blobs[i].max_x - blobs[i].min_x <= MIN_PX_SIZE_FOR_BLOB || blobs[i].max_y - blobs[i].min_y <= MIN_PX_SIZE_FOR_BLOB) {
-					//Invalidamos el blob
+					//Invalidamos el blob
+					printf("invalido blobs\n");
 					blobs[i].region_index = INVALID_REGION;
 				} else {
 					for(j = i + 1; j < CANT_REGIONS; j++) {
 						if(blobs[j].region_index != INVALID_REGION && blobs[i].region_color == blobs[j].region_color &&
-								vision_cla_canBlobsBeMerged(blobs[i], blobs[j], THRESHOLD_X, THRESHOLD_Y)) {
+                            vision_cla_canBlobsBeMerged(blobs[i], blobs[j], THRESHOLD_X, THRESHOLD_Y)) {
 							//Se combinan los blobs
-
+                            printf("blobs combinados\n");
 							blobs[j].region_index = INVALID_REGION;
 
 							if(blobs[i].max_x < blobs[j].max_x)
@@ -151,7 +154,7 @@ struct blob* vision_cls_getNextFrame(unsigned short int force_frame) {
 						}
 					}
 				}
-			}
+			} else printf("es invalida\n");
 		}
 	} while(blobs_merged);
 

visrob2/src/integrando/main.c

@@ -13,6 +13,6 @@ int main() {
         return -1;
     vision_checkVision(0);
     vision_terminate();
-    printf("FINAL FELIZ...");
+    printf("FINAL FELIZ...\n");
     return 0;
 }

visrob2/src/integrando/utilsBlobs.cpp

@@ -34,8 +34,8 @@ int frameNumber;
 //cv::Scalar calibsMAX [] = {cv::Scalar(24,249,125),cv::Scalar(113,132,58),cv::Scalar(15,226,184),cv::Scalar(179,187,102)};
 
 // AMARILLO - AZUL - NARANJA - MAGENTA -cam CSI
-cv::Scalar calibsMIN [] = {cv::Scalar(16,106,145),cv::Scalar(121,83,46),cv::Scalar(13,229,75),cv::Scalar(-4,172,42)};
-cv::Scalar calibsMAX [] = {cv::Scalar(110,247,254),cv::Scalar(136,116,73),cv::Scalar(19,255,241),cv::Scalar(11,255,145)};
+cv::Scalar calibsMIN [] = {cv::Scalar(9,156,44),cv::Scalar(121,83,46),cv::Scalar(13,229,75),cv::Scalar(-4,172,42)};
+cv::Scalar calibsMAX [] = {cv::Scalar(17,245,124),cv::Scalar(121,83,46),cv::Scalar(13,229,75),cv::Scalar(-4,172,42)};
 
 /**
  * Inicializa las estructuras que utiliza. Carga archivo de configuracion
@@ -132,7 +132,7 @@ struct blob fillZeros(){
     res.min_x = (unsigned int) 0;
     res.max_y = (unsigned int) 0;
     res.min_y = (unsigned int) 0;
-
+/*
     printf("===== START DEBUG =====\n");
     printf("reg_idx: %u\n", res.region_index);
     printf("reg_col: %u\n", res.region_color);
@@ -144,15 +144,15 @@ struct blob fillZeros(){
     printf("maxim_y: %u\n", res.max_y);
     printf("minim_y: %u\n", res.min_y);
     printf("===== FIN DEBUG =====\n");
-
+*/
     return res;
 }
 
 struct blob infoToBlob(CvBlob info, unsigned int region_idx){
     struct blob res;
 
-    res.region_index = MY_GOAL_REGION;
-    res.region_color = region_idx;
+    res.region_index = region_idx+1;
+    res.region_color = BALL_REGION;
     res.number_of_pixels = info.area;
 
     res.sum_of_x_coord_high = 0;
@@ -165,7 +165,7 @@ struct blob infoToBlob(CvBlob info, unsigned int region_idx){
     res.min_x = info.minx;
     res.max_y = info.maxy;
     res.min_y = info.miny;
-
+/*
     printf("===== START DEBUG =====\n");
     printf("reg_idx: %u\n", res.region_index);
     printf("reg_col: %u\n", res.region_color);
@@ -177,7 +177,7 @@ struct blob infoToBlob(CvBlob info, unsigned int region_idx){
     printf("maxim_y: %u\n", res.max_y);
     printf("minim_y: %u\n", res.min_y);
     printf("===== FIN DEBUG =====\n");
-
+*/
     return res;
 }
 
@@ -217,7 +217,7 @@ void utilBlobs_getBlobs(struct blob* result){
     CvBlobs blobsitos;
     for (int i=0; i < CANT_CALIBRACIONES; i++){
         IplImage *labelImg = cvCreateImage(cvGetSize(frame), IPL_DEPTH_LABEL, 1);
-        getOneColorBlobs(hsv, labelImg, blobsitos, imgSize, calibsMIN[i], calibsMAX[i]);
+        getOneColorBlobs(hsv, labelImg, blobsitos, imgSize, calibsMIN[0], calibsMAX[0]);
         cvRenderBlobs(labelImg, blobsitos, frame, frame, CV_BLOB_RENDER_BOUNDING_BOX);
 
         CvBlobs::const_iterator it = blobsitos.begin();

visrob2/src/integrando/vision.c

@@ -56,7 +56,8 @@ void vision_setRobotHeight(double height) {
 void processBlobs(void) {
 
 	//Identificamos la bola
-	vision_objRec_detectBall();
+	unsigned short int hayPelota = vision_objRec_detectBall();
+	printf("PELOTA = %d\n");
 
 	//Identificamos los agentes
 	vision_objRec_detectAllies();