diff --git a/parameters_alpha.txt b/parameters_alpha.txt
index e883721..e5134d1 100644
--- a/parameters_alpha.txt
+++ b/parameters_alpha.txt
@@ -23,18 +23,20 @@
42 200 GYRO_OFFSET_X 29760
42 200 GYRO_OFFSET_Y 29860
42 200 GYRO_OFFSET_Z 29877
-42 200 MIX_OFFSET 1
+42 200 MIX_OFFSET 0
42 200 MIX_POSITION 0
42 200 MIX_POS_YAW 0
-42 200 MIX_REMOTE 1
+42 200 MIX_REMOTE 0
42 200 MIX_Z_POSITION 0
42 200 PID_ATT_AWU 0.3
42 200 PID_ATT_D 30
42 200 PID_ATT_I 60
+42 200 PID_ATT_LIM 100
42 200 PID_ATT_P 90
42 200 PID_POS_AWU 5
42 200 PID_POS_D 2
42 200 PID_POS_I 0.4
+42 200 PID_POS_LIM 0.2
42 200 PID_POS_P 1.8
42 200 PID_POS_Z_AWU 3
42 200 PID_POS_Z_D 0.2
@@ -44,16 +46,18 @@
42 200 PID_YAWPOS_AWU 1
42 200 PID_YAWPOS_D 1
42 200 PID_YAWPOS_I 0.1
+42 200 PID_YAWPOS_LIM 2
42 200 PID_YAWPOS_P 5
42 200 PID_YAWSPEED_D 0
-42 200 PID_YAWSPEED_I 10
-42 200 PID_YAWSPEED_P 30
+42 200 PID_YAWSPEED_I 5
+42 200 PID_YAWSPEED_P 15
42 200 PID_YAWSPE_AWU 1
+42 200 PID_YAWSPE_LIM 50
42 200 POS_SP_ACCEPT 1
-42 200 POS_SP_X 1.75
-42 200 POS_SP_Y 0.5
-42 200 POS_SP_YAW 0
-42 200 POS_SP_Z 0
+42 200 POS_SP_X 1.09
+42 200 POS_SP_Y 0.527403
+42 200 POS_SP_YAW 1.57763
+42 200 POS_SP_Z -0.7
42 200 POS_TIMEOUT 1e+06
42 200 RC_NICK_CHAN 1
42 200 RC_ROLL_CHAN 2
diff --git a/parameters_bravo.txt b/parameters_bravo.txt
index 6f4ecee..029850b 100644
--- a/parameters_bravo.txt
+++ b/parameters_bravo.txt
@@ -20,21 +20,23 @@
42 200 DEBUG_4 0
42 200 DEBUG_5 0
42 200 DEBUG_6 0
-42 200 GYRO_OFFSET_X 29830
-42 200 GYRO_OFFSET_Y 29990
-42 200 GYRO_OFFSET_Z 29440
-42 200 MIX_OFFSET 1
+42 200 GYRO_OFFSET_X 29884
+42 200 GYRO_OFFSET_Y 29943
+42 200 GYRO_OFFSET_Z 29479
+42 200 MIX_OFFSET 0
42 200 MIX_POSITION 0
42 200 MIX_POS_YAW 0
-42 200 MIX_REMOTE 1
+42 200 MIX_REMOTE 0
42 200 MIX_Z_POSITION 0
42 200 PID_ATT_AWU 0.3
42 200 PID_ATT_D 10
-42 200 PID_ATT_I 10
-42 200 PID_ATT_P 40
+42 200 PID_ATT_I 20
+42 200 PID_ATT_LIM 100
+42 200 PID_ATT_P 55
42 200 PID_POS_AWU 5
42 200 PID_POS_D 2
42 200 PID_POS_I 0.25
+42 200 PID_POS_LIM 0.2
42 200 PID_POS_P 1.7
42 200 PID_POS_Z_AWU 3
42 200 PID_POS_Z_D 0.2
@@ -44,16 +46,18 @@
42 200 PID_YAWPOS_AWU 1
42 200 PID_YAWPOS_D 1
42 200 PID_YAWPOS_I 0.1
+42 200 PID_YAWPOS_LIM 2
42 200 PID_YAWPOS_P 5
42 200 PID_YAWSPEED_D 0
-42 200 PID_YAWSPEED_I 10
-42 200 PID_YAWSPEED_P 30
+42 200 PID_YAWSPEED_I 5
+42 200 PID_YAWSPEED_P 15
42 200 PID_YAWSPE_AWU 1
+42 200 PID_YAWSPE_LIM 50
42 200 POS_SP_ACCEPT 1
-42 200 POS_SP_X 1.75
-42 200 POS_SP_Y 0.5
+42 200 POS_SP_X 1.1
+42 200 POS_SP_Y 1.1
42 200 POS_SP_YAW 0
-42 200 POS_SP_Z -0.7
+42 200 POS_SP_Z -0.8
42 200 POS_TIMEOUT 1e+06
42 200 RC_NICK_CHAN 1
42 200 RC_ROLL_CHAN 2
diff --git a/patterns/0.bmp b/patterns/0.bmp
new file mode 100644
index 0000000..af7ec10
Binary files /dev/null and b/patterns/0.bmp differ
diff --git a/patterns/1.bmp b/patterns/1.bmp
new file mode 100644
index 0000000..bd3dc29
Binary files /dev/null and b/patterns/1.bmp differ
diff --git a/patterns/2.bmp b/patterns/2.bmp
new file mode 100644
index 0000000..118916b
Binary files /dev/null and b/patterns/2.bmp differ
diff --git a/patterns/3.bmp b/patterns/3.bmp
new file mode 100644
index 0000000..0ea6140
Binary files /dev/null and b/patterns/3.bmp differ
diff --git a/patterns/4.bmp b/patterns/4.bmp
new file mode 100644
index 0000000..51b08af
Binary files /dev/null and b/patterns/4.bmp differ
diff --git a/patterns/5.bmp b/patterns/5.bmp
new file mode 100644
index 0000000..b410032
Binary files /dev/null and b/patterns/5.bmp differ
diff --git a/patterns/6.bmp b/patterns/6.bmp
new file mode 100644
index 0000000..dfe7800
Binary files /dev/null and b/patterns/6.bmp differ
diff --git a/patterns/7.bmp b/patterns/7.bmp
new file mode 100644
index 0000000..c4732cd
Binary files /dev/null and b/patterns/7.bmp differ
diff --git a/patterns/8.bmp b/patterns/8.bmp
new file mode 100644
index 0000000..cbeca17
Binary files /dev/null and b/patterns/8.bmp differ
diff --git a/patterns/9.bmp b/patterns/9.bmp
new file mode 100644
index 0000000..6c55fef
Binary files /dev/null and b/patterns/9.bmp differ
diff --git a/patterns/a.bmp b/patterns/a.bmp
index 34a902c..c4399d8 100644
Binary files a/patterns/a.bmp and b/patterns/a.bmp differ
diff --git a/patterns/b.bmp b/patterns/b.bmp
new file mode 100644
index 0000000..9c24ae0
Binary files /dev/null and b/patterns/b.bmp differ
diff --git a/patterns/c.bmp b/patterns/c.bmp
new file mode 100644
index 0000000..83ffd26
Binary files /dev/null and b/patterns/c.bmp differ
diff --git a/patterns/d.bmp b/patterns/d.bmp
new file mode 100644
index 0000000..c161db2
Binary files /dev/null and b/patterns/d.bmp differ
diff --git a/patterns/e.bmp b/patterns/e.bmp
new file mode 100644
index 0000000..5a0a925
Binary files /dev/null and b/patterns/e.bmp differ
diff --git a/patterns/f.bmp b/patterns/f.bmp
new file mode 100644
index 0000000..a969b2e
Binary files /dev/null and b/patterns/f.bmp differ
diff --git a/patterns/g.bmp b/patterns/g.bmp
new file mode 100644
index 0000000..4e909f3
Binary files /dev/null and b/patterns/g.bmp differ
diff --git a/patterns/h.bmp b/patterns/h.bmp
new file mode 100644
index 0000000..aeb23ea
Binary files /dev/null and b/patterns/h.bmp differ
diff --git a/patterns/i.bmp b/patterns/i.bmp
new file mode 100644
index 0000000..a596607
Binary files /dev/null and b/patterns/i.bmp differ
diff --git a/patterns/j.bmp b/patterns/j.bmp
new file mode 100644
index 0000000..686106f
Binary files /dev/null and b/patterns/j.bmp differ
diff --git a/patterns/k.bmp b/patterns/k.bmp
new file mode 100644
index 0000000..8e5ffcf
Binary files /dev/null and b/patterns/k.bmp differ
diff --git a/patterns/l.bmp b/patterns/l.bmp
new file mode 100644
index 0000000..941f2bd
Binary files /dev/null and b/patterns/l.bmp differ
diff --git a/patterns/m.bmp b/patterns/m.bmp
new file mode 100644
index 0000000..ce85d16
Binary files /dev/null and b/patterns/m.bmp differ
diff --git a/patterns/n.bmp b/patterns/n.bmp
new file mode 100644
index 0000000..78175d9
Binary files /dev/null and b/patterns/n.bmp differ
diff --git a/patterns/o.bmp b/patterns/o.bmp
new file mode 100644
index 0000000..47cb32a
Binary files /dev/null and b/patterns/o.bmp differ
diff --git a/patterns/p.bmp b/patterns/p.bmp
new file mode 100644
index 0000000..abf0fd3
Binary files /dev/null and b/patterns/p.bmp differ
diff --git a/patterns/q.bmp b/patterns/q.bmp
new file mode 100644
index 0000000..8973a55
Binary files /dev/null and b/patterns/q.bmp differ
diff --git a/patterns/r.bmp b/patterns/r.bmp
new file mode 100644
index 0000000..324fd82
Binary files /dev/null and b/patterns/r.bmp differ
diff --git a/patterns/s.bmp b/patterns/s.bmp
new file mode 100644
index 0000000..e8bde5c
Binary files /dev/null and b/patterns/s.bmp differ
diff --git a/patterns/t.bmp b/patterns/t.bmp
new file mode 100644
index 0000000..2057a31
Binary files /dev/null and b/patterns/t.bmp differ
diff --git a/patterns/u.bmp b/patterns/u.bmp
new file mode 100644
index 0000000..ef19a67
Binary files /dev/null and b/patterns/u.bmp differ
diff --git a/patterns/v.bmp b/patterns/v.bmp
new file mode 100644
index 0000000..7dc8412
Binary files /dev/null and b/patterns/v.bmp differ
diff --git a/patterns/w.bmp b/patterns/w.bmp
new file mode 100644
index 0000000..5bb89a4
Binary files /dev/null and b/patterns/w.bmp differ
diff --git a/patterns/x.bmp b/patterns/x.bmp
new file mode 100644
index 0000000..3a88357
Binary files /dev/null and b/patterns/x.bmp differ
diff --git a/patterns/y.bmp b/patterns/y.bmp
new file mode 100644
index 0000000..1ce7ea9
Binary files /dev/null and b/patterns/y.bmp differ
diff --git a/patterns/z.bmp b/patterns/z.bmp
new file mode 100644
index 0000000..3d86f55
Binary files /dev/null and b/patterns/z.bmp differ
diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc
index be2348b..695561b 100644
--- a/src/uas/PxQuadMAV.cc
+++ b/src/uas/PxQuadMAV.cc
@@ -49,9 +49,11 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
b.resize(256);
mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
b.append('\0');
- QString path = QString(b);
- emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected.detected);
- emit letterDetected(uasId, path, detected.confidence, detected.detected);
+ QString name = QString(b);
+ if (detected.type == 0)
+ emit patternDetected(uasId, name, detected.confidence, detected.detected);
+ else if (detected.type == 1)
+ emit letterDetected(uasId, name, detected.confidence, detected.detected);
}
break;
case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 8148d93..0846b89 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -290,7 +290,7 @@ signals:
void waypointReached(UASInterface* uas, int id);
void autoModeChanged(bool autoMode);
void parameterChanged(int uas, int component, QString parameterName, float value);
- void detectionReceived(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected);
+ void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
void letterDetected(int uasId, QString letter, float confidence, bool detected);
/**
* @brief The battery status has been updated
diff --git a/src/ui/ObjectDetectionView.cc b/src/ui/ObjectDetectionView.cc
index 623843c..884c7b7 100644
--- a/src/ui/ObjectDetectionView.cc
+++ b/src/ui/ObjectDetectionView.cc
@@ -26,6 +26,7 @@ This file is part of the PIXHAWK project
* @brief List of detected objects
* @author Benjamin Knecht <mavteam@student.ethz.ch>
* @author Lorenz Meier <mavteam@student.ethz.ch>
+ * @author Fabian Landau <mavteam@student.ethz.ch>
*
*/
@@ -37,13 +38,15 @@ This file is part of the PIXHAWK project
#include "GAudioOutput.h"
#include <QDebug>
+#include <QMap>
#include "MG.h"
ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
QWidget(parent),
patternList(),
- patternCount(),
+ letterList(),
+ letterTimer(),
uas(NULL),
patternFolder(folder),
separator(" "),
@@ -51,6 +54,8 @@ ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
{
m_ui->setupUi(this);
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
+ letterTimer.start(1000);
+ connect(&letterTimer, SIGNAL(timeout()), this, SLOT(decreaseLetterTime()));
}
ObjectDetectionView::~ObjectDetectionView()
@@ -74,91 +79,108 @@ void ObjectDetectionView::setUAS(UASInterface* uas)
//if (this->uas == NULL && uas != NULL)
//{
this->uas = uas;
- connect(uas, SIGNAL(detectionReceived(int, QString, int, int, int, int, int, int, int, int, double, bool)), this, SLOT(newDetection(int,QString,int,int,int,int,int,int,int,int,double,bool)));
- connect(uas, SIGNAL(letterDetected(int,QString,float,bool)), this, SLOT(newLetter(int,QString,float,bool)));
+ connect(uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
+ connect(uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
//}
}
-void ObjectDetectionView::newLetter(int uasId, QString letter, float confidence, bool detected)
+void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confidence, bool detected)
{
- // Emit audio message on detection
- if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected letter " + letter);
- m_ui->nameLabel->setText(letter);
- m_ui->imageLabel->setText(letter);
-}
+ if (detected)
+ {
+ if (!patternList.contains(patternPath))
+ {
+ // Emit audio message on detection
+ if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected pattern " + QString(patternPath.split("/").last()).split(".").first());
-void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected)
-{
- Q_UNUSED(x1);
- Q_UNUSED(y1);
- Q_UNUSED(x2);
- Q_UNUSED(y2);
- Q_UNUSED(x3);
- Q_UNUSED(y3);
- Q_UNUSED(x4);
- Q_UNUSED(y4);
- newDetection(uasId, patternPath, confidence, detected);
+ patternList.insert(patternPath, Pattern(patternPath, confidence));
+ }
+ else
+ {
+ Pattern pattern = patternList.value(patternPath);
+ if (confidence > pattern.confidence)
+ pattern.confidence = confidence;
+ ++pattern.count;
+ patternList.insert(patternPath, pattern);
+ }
+
+ // set list items
+ QList<Pattern> templist;
+ foreach (Pattern pattern, patternList)
+ templist.push_back(pattern);
+ qSort(templist);
+ m_ui->listWidget->clear();
+ foreach (Pattern pattern, templist)
+ m_ui->listWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence));
+
+ // load image
+ QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();
+ QPixmap image = QPixmap(filePath);
+ if (image.width() > image.height())
+ image = image.scaledToWidth(m_ui->imageLabel->width());
+ else
+ image = image.scaledToHeight(m_ui->imageLabel->height());
+ m_ui->imageLabel->setPixmap(image);
+
+ // set textlabel
+ QString patternName = patternPath.split("/").last(); // Remove preceding folder names
+ patternName = patternName.split(".").first(); // Remove file ending
+ m_ui->nameLabel->setText("Pattern: " + patternName);
+ }
}
-void ObjectDetectionView::newDetection(int uasId, QString patternPath, float confidence, bool detected)
+void ObjectDetectionView::newLetter(int uasId, QString letter, float confidence, bool detected)
{
+ Q_UNUSED(confidence);
+
if (detected)
{
- if (patternList.contains(patternPath))
+ if (!letterList.contains(letter))
{
- //qDebug() << "REDETECTED";
-
- QList<QAction*> actions = m_ui->listWidget->actions();
- // Find action and update it
- foreach (QAction* act, actions)
- {
- qDebug() << "ACTION";
- if (act->text().trimmed().split(separator).first() == patternPath)
- {
- int count = patternCount.value(patternPath);
- patternCount.insert(patternPath, count);
- act->setText(patternPath + separator + "(#" + QString::number(count) + ")" + separator + QString::number(confidence));
- }
- }
- QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();
- qDebug() << "Loading:" << filePath;
- QPixmap image = QPixmap(filePath);
- image = image.scaledToWidth(m_ui->imageLabel->width());
- m_ui->imageLabel->setPixmap(image);
- QString patternName = patternPath.split("//").last(); // Remove preceding folder names
- patternName = patternName.split(".").first(); // Remove file ending
+ // Emit audio message on detection
+ if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected letter " + letter);
- // Set name and label
- m_ui->nameLabel->setText(patternName);
+ letterList.insert(letter, Pattern(letter, 0));
}
else
{
- // Emit audio message on detection
- if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected pattern " + QString(patternPath.split("/").last()).split(".").first());
+ Pattern pattern = letterList.value(letter);
+ pattern.confidence = 0;
+ ++pattern.count;
+ letterList.insert(letter, pattern);
+ }
- patternList.insert(patternPath, confidence);
- patternCount.insert(patternPath, 1);
+ updateLetterList();
- QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();
+ // display letter
+ m_ui->letterLabel->setText(letter);
- qDebug() << "Loading:" << filePath;
- QPixmap image = QPixmap(filePath);
- QIcon ico(image);
- QAction* act = new QAction(ico, patternPath + separator + "(#" + QString::number(1) + ")" + separator + QString::number(confidence), this);
- connect(act, SIGNAL(triggered()), this, SLOT(takeAction()));
- //m_ui->listWidget->addAction(act);
- m_ui->listWidget->addItem(patternPath + separator + "(#" + QString::number(1) + ")" + separator + QString::number(confidence));
- //m_ui->listWidget->addItem(patternPath + " " + QString::number(confidence));
- image = image.scaledToWidth(m_ui->imageLabel->width());
- m_ui->imageLabel->setPixmap(image);
- QString patternName = patternPath.split("//").last(); // Remove preceding folder names
- patternName = patternName.split(".").first(); // Remove file ending
+ // set textlabel
+ m_ui->nameLabel->setText("Letter: " + letter);
+ }
+}
- // Set name and label
- m_ui->nameLabel->setText(patternName);
- qDebug() << "IMAGE SET" << patternFolder + "/" + patternPath;
- }
+void ObjectDetectionView::decreaseLetterTime()
+{
+ foreach (Pattern pattern, letterList)
+ {
+ pattern.confidence -= 1;
+ letterList.insert(pattern.name, pattern);
}
+
+ updateLetterList();
+}
+
+void ObjectDetectionView::updateLetterList()
+{
+ // set list items
+ QList<Pattern> templist;
+ foreach (Pattern pattern, letterList)
+ templist.push_back(pattern);
+ qSort(templist);
+ m_ui->letterListWidget->clear();
+ foreach (Pattern pattern, templist)
+ m_ui->letterListWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence));
}
void ObjectDetectionView::takeAction()
diff --git a/src/ui/ObjectDetectionView.h b/src/ui/ObjectDetectionView.h
index 054249a..574c8fb 100644
--- a/src/ui/ObjectDetectionView.h
+++ b/src/ui/ObjectDetectionView.h
@@ -26,6 +26,7 @@ This file is part of the PIXHAWK project
* @brief List of detected objects
* @author Benjamin Knecht <mavteam@student.ethz.ch>
* @author Lorenz Meier <mavteam@student.ethz.ch>
+ * @author Fabian Landau <mavteam@student.ethz.ch>
*
*/
@@ -47,8 +48,21 @@ namespace Ui {
class ObjectDetectionView : public QWidget {
Q_OBJECT
Q_DISABLE_COPY(ObjectDetectionView)
- public:
- explicit ObjectDetectionView(QString folder="patterns", QWidget *parent = 0);
+
+ struct Pattern
+ {
+ Pattern() : name(QString()), confidence(0.0f), count(0) {}
+ Pattern(QString name, float confidence) : name(name), confidence(confidence), count(1) {}
+
+ bool operator<(const Pattern& other) const { return this->confidence > other.confidence; } // this comparison is intentionally wrong to sort the QList from highest confidence to lowest
+
+ QString name;
+ float confidence;
+ unsigned int count;
+ };
+
+public:
+ explicit ObjectDetectionView(QString folder="patterns", QWidget *parent = 0);
virtual ~ObjectDetectionView();
/** @brief Resize widget contents */
@@ -58,17 +72,19 @@ public slots:
/** @brief Set the UAS this view is currently associated to */
void setUAS(UASInterface* uas);
/** @brief Report new detection */
- void newDetection(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected);
+ void newPattern(int uasId, QString patternPath, float confidence, bool detected);
void newLetter(int uasId, QString letter, float confidence, bool detected);
- void newDetection(int uasId, QString patternPath, float confidence, bool detected);
+ void decreaseLetterTime();
+ void updateLetterList();
/** @brief Accept an internal action, update name and preview image label */
void takeAction();
protected:
virtual void changeEvent(QEvent *e);
- QMap<QString, double> patternList; ///< The detected patterns
- QMap<QString, unsigned int> patternCount; ///< Number of detections per pattern
- UASInterface* uas; ///< The monitored UAS
+ QMap<QString, Pattern> patternList; ///< The detected patterns with their confidence and detection count
+ QMap<QString, Pattern> letterList; ///< The detected letters with their confidence and detection count
+ QTimer letterTimer; ///< A timer to "forget" old letters
+ UASInterface* uas; ///< The monitored UAS
QString patternFolder; ///< The base folder where pattern images are stored in
const QString separator;
diff --git a/src/ui/ObjectDetectionView.ui b/src/ui/ObjectDetectionView.ui
index a115f53..5630b1e 100644
--- a/src/ui/ObjectDetectionView.ui
+++ b/src/ui/ObjectDetectionView.ui
@@ -7,17 +7,20 @@
<x>0</x>
<y>0</y>
<width>246</width>
- <height>396</height>
+ <height>403</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
- <layout class="QGridLayout" name="gridLayout">
- <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout" columnstretch="10,10" columnminimumwidth="0,0">
+ <item row="0" column="0" colspan="2">
<widget class="QListWidget" name="listWidget"/>
</item>
- <item row="1" column="0">
+ <item row="1" column="0" colspan="2">
+ <widget class="QListWidget" name="letterListWidget"/>
+ </item>
+ <item row="2" column="0">
<widget class="QLabel" name="imageLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -36,7 +39,39 @@
</property>
</widget>
</item>
- <item row="2" column="0">
+ <item row="2" column="1">
+ <widget class="QLabel" name="letterLabel">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>10</horstretch>
+ <verstretch>10</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="sizeIncrement">
+ <size>
+ <width>2</width>
+ <height>2</height>
+ </size>
+ </property>
+ <property name="baseSize">
+ <size>
+ <width>10</width>
+ <height>10</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">font: 72pt;
+color: white;</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0" colspan="2">
<widget class="QLabel" name="nameLabel">
<property name="text">
<string>No objects recognized</string>
diff --git a/waypoints-final-pole-racing.txt b/waypoints-final-pole-racing.txt
new file mode 100644
index 0000000..6a4b4ba
--- /dev/null
+++ b/waypoints-final-pole-racing.txt
@@ -0,0 +1,9 @@
+ 0 1.60066 0.497923 -0.7 -0.156858 1 1 0.15 2000
+ 1 0.973377 0.691139 -0.7 -0.0664193 1 0 0.15 2000
+ 2 0.646637 1.57225 -0.7 6.26573 1 0 0.15 2000
+ 3 0.659852 2.39951 -0.7 -0.0549587 1 0 0.15 2000
+ 4 1.41441 2.8804 -0.7 -0.0258336 1 0 0.15 2000
+ 5 2.33563 2.90308 -0.7 -0.0621037 1 0 0.15 2000
+ 6 2.76383 2.04368 -0.7 -0.0381553 1 0 0.15 2000
+ 7 2.73091 1.05595 -0.7 -0.0520457 1 0 0.15 2000
+ 8 1.73409 0.599043 0 6.26573 1 0 0.15 2000
diff --git a/waypoints_A0_circlev2.txt b/waypoints_A0_circlev2.txt
index 1d366e1..e2e684c 100644
--- a/waypoints_A0_circlev2.txt
+++ b/waypoints_A0_circlev2.txt
@@ -1,10 +1,10 @@
- 0 1.75 0.5 -0.7 0 1 1 0.3 10000
- 1 0.95 0.5 -0.7 0 1 0 0.3 2000
- 2 0.5 1.5 -0.7 0 1 0 0.3 2000
- 3 0.5 2.8 -0.7 0 1 0 0.3 2000
- 4 1.75 2.8 -0.7 0 1 0 0.3 2000
- 5 2.8 2.8 -0.7 0 1 0 0.3 2000
- 6 2.8 1.75 -0.7 0 1 0 0.3 2000
- 7 2.8 0.7 -0.7 0 1 0 0.3 2000
- 8 1.75 0.5 -0.7 0 1 0 0.3 2000
- 9 1.75 0.5 0 0 0 0 0.3 2000
+ 0 1.75 0.5 -0.7 0 1 1 0.15 10000
+ 1 0.95 0.5 -0.7 0 1 0 0.15 2000
+ 2 0.5 1.5 -0.7 0 1 0 0.15 2000
+ 3 0.5 2.8 -0.7 0 1 0 0.15 2000
+ 4 1.75 2.8 -0.7 0 1 0 0.15 2000
+ 5 2.8 2.8 -0.7 0 1 0 0.15 2000
+ 6 2.8 1.75 -0.7 0 1 0 0.15 2000
+ 7 2.8 0.7 -0.7 0 1 0 0.15 2000
+ 8 1.75 0.5 -0.7 0 1 0 0.15 2000
+ 9 1.75 0.5 0 0 0 0 0.15 2000