new back car light: include/utils.h

	a robust corner detector under test:   src/imageprocessing.c
	video debugging disabled:   src/sensors.c
	modified:   src/vehicle.c

include/utils.h

@@ -49,7 +49,7 @@
 
 /** CAR LIGHTS **/
 #define CAR_RUNNING	14
-#define CAR_STOPPED	12
+#define CAR_STOPPED	makecol(255,50,50)
 
 /* Inits grid map */
 void initGridMap(int *tl_matrix, const int street_w, const int block_w);

src/imageprocessing.c

@@ -275,16 +275,23 @@ void *fastHarrisRobertCornerDetection(void *void_im) {
 	int dx, dy;						// derivatives
 	int cornerCounter = 0;			// number of corners
 
-	for (i = 1; i < VRES - 1; i++) {
-		for (j = 1; j < HRES - 1; j++) {
+	for (i = 1; i < VRES - 3; i++) {
+		for (j = 1; j < HRES - 3; j++) {
 
 			dx = abs(im->im[i * HRES + j] - im->im[(i + 1) * HRES + j + 1]); // P - c 
 			dy = abs(im->im[i * HRES + j + 1] - im->im[(i + 1) * HRES + j]); // a - b
 
 			if (dx != dy) {	// if they are different then pixel at i,j is a corner
-				im->ft.x[cornerCounter] = i; 
-				im->ft.y[cornerCounter] = j;
-				cornerCounter++;
+				/* re-checking some pixels further increases robusticity*/
+				dx = abs(im->im[i * HRES + j] - im->im[(i + 3) * HRES + j + 3]); // P - c 
+				dy = abs(im->im[i * HRES + j + 3] - im->im[(i + 3) * HRES + j]); // a - b
+
+				if (dx != dy) {
+					im->ft.x[cornerCounter] = i; 
+					im->ft.y[cornerCounter] = j;
+					cornerCounter++;
+				}
+
 			}
 		}
 	}

src/sensors.c

@@ -159,8 +159,6 @@ void  analyzeCameraFrame(vehicle_t *c, imfeatures_t *imft) {
 		}
 	}
 
-	/* Morphology ops will go here */
-	// delation(bwStreetTmp, bwStreet.im);
 	RosenfeldPfaltz(bwTL, &imft->TLcenter, 0);
 	fastHarrisRobertCornerDetection(&bwStreet);
 	imft->stCorner = bwStreet.ft;

src/vehicle.c

@@ -117,6 +117,7 @@ void *moveVehicle(void *myV) {
 		circlefill(screen, c->xr - c->l/4 * cos(c->theta), c->yr - c->l/4 * sin(c->theta), c->w / 2 - 3, CAR_RUNNING);
 		pthread_mutex_unlock(&screen_lock);
 	} else {
+		/** RED LIGHTS display at the back of the car when it's stopped **/
 		circlefill(screen, c->xr - c->l/4 * cos(c->theta), c->yr - c->l/4 * sin(c->theta), c->w / 2 - 3, CAR_STOPPED);		
 	}