Merge branch 'master' of github.com:ctu-mrs/uvdar_core

ctu-mrs · Apr 20, 2024 · ed0178a · ed0178a
2 parents 29aaec3 + 697a8ce
commit ed0178a
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Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/include/detect/uv_led_detect_fast_gpu.h b/include/detect/uv_led_detect_fast_gpu.h
@@ -188,7 +188,7 @@ int run_fast(int radius)
 
 void main()
 {
-    if (atomicCounter(markers_count) >= uint(MAX_MARKERS_COUNT) || atomicCounter(sun_pts_count) >= uint(MAX_SUN_PTS_COUNT)) {
+    if (atomicCounter(markers_count) >= uint(MAX_MARKERS_COUNT)) {
         return;
     }
 
@@ -203,15 +203,17 @@ void main()
                 markers[atomicCounterIncrement(markers_count)] = ((uint(center_pos.x) & uint(0x0000FFFF)) << 16) | (uint(center_pos.y) & uint(0x0000FFFF));
                 break;
             case FAST_RESULT_SUN:
-                sun_pts[atomicCounterIncrement(sun_pts_count)] = ((uint(center_pos.x) & uint(0x0000FFFF)) << 16) | (uint(center_pos.y) & uint(0x0000FFFF));
+                if (atomicCounter(sun_pts_count) < uint(MAX_SUN_PTS_COUNT))
+                  sun_pts[atomicCounterIncrement(sun_pts_count)] = ((uint(center_pos.x) & uint(0x0000FFFF)) << 16) | (uint(center_pos.y) & uint(0x0000FFFF));
                 break;
             case FAST_RESULT_NONE:
                 switch (run_fast(4)) {
                     case FAST_RESULT_MARKER:
                         markers[atomicCounterIncrement(markers_count)] = ((uint(center_pos.x) & uint(0x0000FFFF)) << 16) | (uint(center_pos.y) & uint(0x0000FFFF));
                         break;
                     case FAST_RESULT_SUN:
-                        sun_pts[atomicCounterIncrement(sun_pts_count)] = ((uint(center_pos.x) & uint(0x0000FFFF)) << 16) | (uint(center_pos.y) & uint(0x0000FFFF));
+                        if (atomicCounter(sun_pts_count) < uint(MAX_SUN_PTS_COUNT))
+                          sun_pts[atomicCounterIncrement(sun_pts_count)] = ((uint(center_pos.x) & uint(0x0000FFFF)) << 16) | (uint(center_pos.y) & uint(0x0000FFFF));
                         break;
                     case FAST_RESULT_NONE:
                         break;

diff --git a/launch/rw_three_sided.launch b/launch/rw_three_sided.launch
@@ -22,7 +22,7 @@
 
   <arg name="calibrations_folder" default="$(find mrs_uav_deployment)/config/uvdar_calibrations"/>
 
-  <arg name="camera_rate" default="60"/>
+  <arg name="camera_rate" default="59.90"/>
   <arg name="fps" default="$(arg camera_rate)"/>
   <arg name="idpf" default="0"/>
   <arg name="aec" default="false"/>
@@ -262,8 +262,8 @@
     <node name="blink_processor" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="true"> 
     <!-- <node name="blink_processor" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="true" launch-prefix="roslaunch_debug"> --> 
       <param name="uav_name" type = "string" value="$(arg uav_name)"/>
-      <!-- <param name="debug"		type="bool" value="$(arg debug)"/> --> 
-      <param name="debug"		type="bool" value="false"/> 
+      <param name="debug"		type="bool" value="$(arg debug)"/> 
+      <!-- <param name="debug"		type="bool" value="true"/> --> 
       <param name="visual_debug"		type="bool" value="$(arg visual_debug)"/> 
       <param name="gui"             type="bool" value="$(arg gui)"/>
       <param name="publish_visualization"         type="bool" value="$(arg publish_visualization)"/>