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transfer hsv from arm [WIP] #174

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53 changes: 48 additions & 5 deletions trikControl/src/colorSensorWorker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,50 @@ QVector<int> ColorSensorWorker::read(int m, int n)
return {-1, -1, -1};
}

return mReading[m - 1][n - 1];
return hsvToRgb(mReading[m - 1][n - 1]);
}

QVector<int> ColorSensorWorker::hsvToRgb(QVector<int> hsv)
{
int H = hsv[0];
int S = hsv[1];
int V = hsv[2];

QVector<int> resultRGB({0, 0, 0});

float r = 0;
float g = 0;
float b = 0;

float h = H / 255.0f;
float s = S / 255.0f;
float v = V / 255.0f;

v = v < 0.2 ? 0 : v;
s = s < 0.2 ? 0 : 1;

int i = h*6;
float f = h*6-i;
float p = v * (1 - s);
float q = v * (1 - f * s);
double t = v * (1 - (1 - f) * s);

switch(i % 6) {
case 0: r = v; g = t; b = p; break;
case 1: r = q; g = v; b = p; break;
case 2: r = p; g = v; b = t; break;
case 3: r = p; g = q; b = v; break;
case 4: r = t; g = p; b = v; break;
case 5: r = v; g = p; b = q; break;
}

int ri = r*255;
int gi = g*255;
int bi = b*255;

resultRGB = {ri, gi, bi};

return resultRGB;
}

QString ColorSensorWorker::sensorName() const
Expand All @@ -88,10 +131,10 @@ void ColorSensorWorker::onNewData(const QString &dataLine)
for (int i = 0; i < mReadingBuffer.size(); ++i) {
for (int j = 0; j < mReadingBuffer[i].size(); ++j) {
unsigned const int colorValue = parsedLine[i * mReadingBuffer.size() + j + 1].toUInt();
const int r = (colorValue >> 16) & 0xFF;
const int g = (colorValue >> 8) & 0xFF;
const int b = colorValue & 0xFF;
mReadingBuffer[i][j] = {r, g, b};
const int C1 = (colorValue >> 16) & 0xFF;
const int C2 = (colorValue >> 8) & 0xFF;
const int C3 = colorValue & 0xFF;
mReadingBuffer[i][j] = {C1, C2, C3};
}
}

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7 changes: 5 additions & 2 deletions trikControl/src/colorSensorWorker.h
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Expand Up @@ -46,8 +46,9 @@ public slots:
/// Initializes a camera.
/// @param showOnDisplay - true if we want an image from a camera to be drawn on robot display.
void init(bool showOnDisplay);

/// Returns dominant color in given cell of a grid as a vector [R; G; B] in RGB color scale.

/// Returns dominant color in given cell of a grid as a vector [R; G; B] in RGB color scale or
/// a vector [H, S, V] in HSV color scale.
/// If m or n are out of range, returns [-1; -1; -1].
/// Can be accessed directly from other thread.
QVector<int> read(int m, int n);
Expand All @@ -57,6 +58,8 @@ public slots:

void onNewData(const QString &dataLine) override;

QVector<int> hsvToRgb(QVector<int> hsv);

/// Current stored reading of a sensor. First two vectors are m*n matrix, inner vector contains 3 values --- red,
/// green and blue components of a dominant color in this cell.
QVector<QVector<QVector<int>>> mReading;
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