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AlgoFollow.cpp
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AlgoFollow.cpp
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#include "AlgoFollow.h"
#include "ninebot_log.h"
#include "AlgoUtils.h"
#include "Quaternion.h"
#include "Vector3.h"
#include <algorithm>
#include "SocketServer.h"
#define PI 3.1415
namespace ninebot_algo
{
namespace follow_algo
{
using namespace std;
using namespace cv;
AlgoFollow::AlgoFollow(RawData *rawInterface, int run_sleep_ms, bool isRender)
:AlgoBase(rawInterface,run_sleep_ms,true)
{
mRawDataInterface->ExecuteHeadMode(0);
mRawDataInterface->ExecuteHeadPos(0, 0.7, 0);
m_is_init_succed = false;
m_ptime = 10;
m_isRender = isRender;
pose_isRecording = false;
canvas = cv::Mat::zeros( cv::Size(640, 360), CV_8UC3 );
m_safety_control = true;
m_is_track_head = false;
m_is_track_vehicle = false;
m_p_local_mapping = NULL;
m_target_distance = -1.0f;
m_target_theta = 0.0f;
init();
}
AlgoFollow::~AlgoFollow() {
this->stopPoseRecord();
mRawDataInterface->ExecuteHeadMode(0);
mRawDataInterface->ExecuteHeadPos(0, 0.7, 0);
if(m_p_local_mapping) {
delete m_p_local_mapping;
m_p_local_mapping = NULL;
}
if(m_p_localmapping_rawdata != NULL) {
delete m_p_localmapping_rawdata;
m_p_localmapping_rawdata = NULL;
}
if(m_p_server != NULL) {
delete m_p_server;
m_p_server = NULL;
}
if(m_p_head_yaw_tracker != NULL) {
delete m_p_head_yaw_tracker;
m_p_head_yaw_tracker = NULL;
}
if(m_p_head_pitch_tracker != NULL) {
delete m_p_head_pitch_tracker;
m_p_head_pitch_tracker = NULL;
}
if(m_p_vehicle_tracker != NULL) {
delete m_p_vehicle_tracker;
m_p_vehicle_tracker = NULL;
}
// depth
if (m_p_depth_processor){
delete(m_p_depth_processor);
}
delete[] bounding_box;
}
bool AlgoFollow::init()
{
mRawDataInterface->ExecuteHeadMode(0);
mRawDataInterface->ExecuteHeadPos(0, 0.7, 0);
raw_depth.image = cv::Mat::zeros(cv::Size(320, 240), CV_16UC1);
raw_depth.timestampSys = 0;
t_old = 0;
imgstream_en = true;
nStep = 0;
mRawDataInterface->getMaincamParam(raw_camerapara);
mRawDataInterface->getCalibrationDS4T(calib);
string serial = RawData::retrieveRobotSerialNumber();
ALOGD("robot serial: %s", serial.c_str());
ALOGD("robot model: %d", RawData::retrieveRobotModel());
m_is_init_succed = true;
m_p_server = new SocketServer;
m_timestamp_start = mRawDataInterface->getCurrentTimestampSys();
initLocalMapping();
float head_kp, head_ki, head_kd;
float vehicle_kp, vehicle_ki, vehicle_kd;
loadConfig(head_kp, head_ki, head_kd, vehicle_kp, vehicle_ki, vehicle_kd);
m_p_head_yaw_tracker = new PID(0.1, 0.5, -0.5, head_kp, head_ki, head_kd);
m_p_head_pitch_tracker = new PID(0.1, 0.1, -0.1, 0.1, 0.01, 0.01);
m_p_vehicle_tracker = new PID(0.1, 1.0, -0.5, vehicle_kp, vehicle_ki, vehicle_kd);
m_direction_head_test = 0;
// depth
m_p_depth_processor = new DepthPreprocess();
// detection
m_is_detected = false;
bounding_box = new float[5];
return m_is_init_succed;
}
void AlgoFollow::UpdateAccel(MTPoint val)
{
raw_accel = val;
}
void AlgoFollow::UpdateGyro(MTPoint val)
{
raw_gyro = val;
}
void AlgoFollow::toggleImgStream()
{
imgstream_en = !imgstream_en;
}
void AlgoFollow::setVLSopen(bool en)
{
if(en)
mRawDataInterface->startVLS(false);
else
mRawDataInterface->stopVLS();
}
void AlgoFollow::startPoseRecord(std::string save_folder, int64_t save_time)
{
pose_isRecording = true;
nStep = 0;
m_folder_socket = "/sdcard/socket/";
createFolder(m_folder_socket);
m_state_file.open(m_folder_socket + "state.txt");
}
void AlgoFollow::stopPoseRecord()
{
pose_isRecording = false;
m_state_file.close();
}
bool AlgoFollow::step()
{
/*! Get start timestamp for calculating algorithm runtime */
auto start = std::chrono::high_resolution_clock::now();
if(!m_is_init_succed){
ALOGD("AlgoFollow: init false");
return false;
}
if(imgstream_en){
mRawDataInterface->retrieveDepth(raw_depth, false);
if(raw_depth.timestampSys==0)
{
ALOGD("depth wrong");
return false;
}
// check if depth is duplicate
if(t_old==raw_depth.timestampSys)
{
ALOGD("depth duplicate: %lld",raw_depth.timestampSys/1000);
return true;
}
else
{
t_old=raw_depth.timestampSys;
ALOGD("depth correct");
}
}
/*! **********************************************************************
* **** Local
* ********************************************************************* */
mRawDataInterface->retrieveOdometry(raw_odometry, -1);
prepare_localmap_and_pose_for_controller_g1();
/*! **********************************************************************
* **** Cloud
* ********************************************************************* */
this->stepServer();
/*! **********************************************************************
* **** Processing the algorithm with all input and sensor data **********
* ********************************************************************* */
string contents;
if(m_isRender)
{
/*! Copy internal canvas to intermediate buffer mDisplayIm */
renderDisplay();
setDisplayData();
}
/*! Calculate the algorithm runtime */
auto end = std::chrono::high_resolution_clock::now();
std::chrono::duration<double, std::milli> elapsed = end-start;
ALOGD("step time: %f",elapsed.count());
{
std::lock_guard<std::mutex> lock(mMutexTimer);
m_ptime = elapsed.count()*0.5 + m_ptime*0.5;
}
return true;
}
void AlgoFollow::stepServer() {
// generate mapping
// mRawDataInterface->retrieveDS4Color(raw_colords4, true);
mRawDataInterface->retrieveColor(raw_color, true);
ALOGD("raw_color: (%lld,%d,%d,%d)", raw_color.timestampSys, raw_color.image.cols, raw_color.image.rows, raw_color.image.channels());
if (raw_color.image.empty()) {
ALOGW("empty raw_color image");
mRawDataInterface->ExecuteCmd(0.0f, 0.0f, mRawDataInterface->getCurrentTimestampSys());
return;
}
if (m_p_server->isStopped()) {
mRawDataInterface->ExecuteCmd(0.0f, 0.0f, mRawDataInterface->getCurrentTimestampSys());
ALOGW("server stopped");
return;
}
if (!m_p_server->isConnected()) {
mRawDataInterface->ExecuteCmd(0.0f, 0.0f, mRawDataInterface->getCurrentTimestampSys());
ALOGW("server disconnected");
mRawDataInterface->ExecuteHeadMode(0);
mRawDataInterface->ExecuteHeadPos(0, 0.7, 0);
return;
}
cv::Mat image_send;
cv::resize(raw_color.image, image_send, cv::Size(640/m_down_scale, 480/m_down_scale));
int info_send_image = m_p_server->sendImage(image_send, 640/m_down_scale, 480/m_down_scale);
if (info_send_image < 0) {
ALOGW("server send iamge failed");
mRawDataInterface->ExecuteHeadMode(0);
mRawDataInterface->ExecuteHeadPos(0, 0.7, 0);
return;
}
else {
ALOGW("server send iamge succeeded");
}
// Receive Bounding Box coordinates (5 floats)
float* floats_recv = new float[5];
int rcv_info_test = m_p_server->recvFloats(floats_recv, 5);
if (rcv_info_test < 0) {
ALOGD("server rcv float failed");
return;
}
else {
for (int i = 0; i < 5; i++)
{
bounding_box[i] = *(float*)&floats_recv[i];
ALOGD("server bounding_box #%d: %.2f", i, bounding_box[i]);
}
}
delete[] floats_recv;
m_roi_color.width = int(bounding_box[2] * m_down_scale);
m_roi_color.height = int(bounding_box[3] * m_down_scale);
m_roi_color.x = (bounding_box[0] - 320/m_down_scale) * m_down_scale + 320;
m_roi_color.y = (bounding_box[1] - 240/m_down_scale) * m_down_scale + 240;
// convert from center to top-left corner
m_roi_color.x = int(m_roi_color.x - m_roi_color.width/2);
m_roi_color.y = int(m_roi_color.y - m_roi_color.height/2);
if (bounding_box[4] > 0.5)
m_is_detected = true;
else
m_is_detected = false;
float target_theta_wrt_head =0.0f;
if (m_is_detected) {
ExtractTarget(m_target_distance, target_theta_wrt_head);
m_target_theta = target_theta_wrt_head + raw_headpos.yaw;
}
else {
m_target_distance = -1.0f;
m_target_theta = 0.0f;
target_theta_wrt_head = 0.0f;
}
this->trackHead(m_target_theta);
this->trackVehicle(m_target_distance, m_target_theta);
ALOGD("Vehicle Target: target_distance = %f, target_theta_wrt_head = %f", m_target_distance, target_theta_wrt_head);
return;
}
void AlgoFollow::switchHeadTracker() {
m_is_track_head = !m_is_track_head;
}
void AlgoFollow::switchVehicleTracker() {
m_is_track_vehicle = !m_is_track_vehicle;
m_is_track_head = m_is_track_vehicle;
}
void AlgoFollow::safeControl(float v, float w) {
if (m_safety_control) {
const float kCloseObstacleThres = 1.0;
if(m_ultrasonic_average < kCloseObstacleThres*1000){
if (v > 0 && std::abs(v/std::fmax(0.01,w)) > 0.8){
StampedVelocity velocity;
mRawDataInterface->retrieveBaseVelocity(velocity);
float v_emergency = std::min(0.0, 0.2-velocity.vel.linear_velocity);
ALOGE("command dangerous: (%f,%f), current vel: (%f,%f), ultrasonic_average = %f: v_emergency = %f", v, w, velocity.vel.linear_velocity, velocity.vel.angular_velocity, m_ultrasonic_average, v_emergency);
mRawDataInterface->ExecuteCmd(v_emergency, 0.0f, 0);
return;
}
}
}
mRawDataInterface->ExecuteCmd(v, w, 0);
ALOGD("command safe: (%f,%f)", v, w);
}
float AlgoFollow::runTime()
{
std::lock_guard<std::mutex> lock(mMutexTimer);
return m_ptime;
}
bool AlgoFollow::showScreen(void* pixels) // canvas 640x360, RGBA format
{
{
std::lock_guard<std::mutex> lock(mMutexDisplay);
if(mDisplayIm.empty())
return false;
cv::cvtColor(mDisplayIm, mDisplayData, CV_BGR2RGBA);
}
memcpy(pixels, (void *)mDisplayData.data, mDisplayData.cols * mDisplayData.rows * 4);
return true;
}
void AlgoFollow::setDisplayData()
{
std::lock_guard<std::mutex> lock(mMutexDisplay);
mDisplayIm = canvas.clone();
}
void AlgoFollow::createFolder(std::string new_folder_name)
{
std::string cmd_str_rm = "rm -rf \"" + new_folder_name + "\"";
system(cmd_str_rm.c_str());
ALOGD("Command %s was executed. ", cmd_str_rm.c_str());
std::string cmd_str_mk = "mkdir \"" + new_folder_name + "\"";
system(cmd_str_mk.c_str());
ALOGD("Command %s was executed. ", cmd_str_mk.c_str());
}
std::string AlgoFollow::getDebugString()
{
std::string str;
if (m_safety_control){
str = "，safety ON";
}
else {
str = "，safety OFF";
}
int raw_errorcode = mRawDataInterface->retrieveDeviceErrorCode();
if (raw_errorcode != 0)
str += ", err:"+ToString(raw_errorcode);
return str;
}
bool AlgoFollow::initLocalMapping()
{
if(m_p_local_mapping) {
delete m_p_local_mapping;
m_p_local_mapping = NULL;
}
float mapsize = 8.0;
float m_map_resolution = 0.05;
m_p_local_mapping = new ninebot_algo::local_mapping::LocalMapping(mapsize, m_map_resolution);
if(m_p_local_mapping == NULL)
return false;
CalibrationInfoDS4T calib;
mRawDataInterface->getCalibrationDS4T(calib);
float fx = calib.depth.focalLengthX;
float fy = calib.depth.focalLengthY;
float px = calib.depth.pricipalPointX;
float py = calib.depth.pricipalPointY;
m_p_local_mapping->setLidarRange(5.0);
m_p_local_mapping->setLidarMapParams(0.6, true);
m_p_local_mapping->setDepthCameraParams(px, py, fx, fy, 1000);
m_p_local_mapping->setDepthRange(3.5, 0.35, 0.9, 0.1);
m_p_local_mapping->setDepthMapParams(1.0, 10, false, -1);
m_p_local_mapping->setUltrasonicRange(0.5);
m_map_width = mapsize / m_map_resolution;
m_map_height = mapsize / m_map_resolution;
return true;
}
bool AlgoFollow::prepare_localmap_and_pose_for_controller_g1() {
// generate mapping
mRawDataInterface->retrieveDepth(raw_depth, true);
if(raw_depth.timestampSys == 0) {
ALOGD("localmap: depth wrong");
return false;
}
StampedMat local_depth(raw_depth.image, raw_depth.timestampSys);
// merge all TF requests
ninebot_tf::vector_req_t reqList;
ninebot_tf::vector_tf_msg_t resList;
reqList.push_back(ninebot_tf::tf_request_message("base_center_ground_frame", "world_odom_frame", raw_depth.timestampSys, 500));
reqList.push_back(ninebot_tf::tf_request_message("rsdepth_center_neck_fix_frame", "world_odom_frame", raw_depth.timestampSys, 500));
mRawDataInterface->getMassiveTfData(&reqList,&resList);
if(resList.size()!=2){
ALOGE("getMassiveTfData wrong");
return false;
}
// clear history
m_p_local_mapping->clearMap();
// m_p_local_mapping->setMapValue(raw_odometry.twist.pose.x, raw_odometry.twist.pose.y, 254, 1.5);
ninebot_tf::tf_message tf_msg = resList[0];
ninebot_tf::tf_message tf_msg2 = resList[1];
if (tf_msg.err==0 && tf_msg2.err==0) {
StampedPose odom_pos = tfmsgTo2DPose(tf_msg);
Eigen::Isometry3f depth_pose = PoseToCamcoor(tfmsgToPose(tf_msg2));
// process depth
m_p_local_mapping->processDepthFrame(local_depth, odom_pos, depth_pose);
}
else {
ALOGE("localmap: Could not find tf pose with specified depth ts, error code: %d, %d", tf_msg.err, tf_msg2.err);
}
// StampedFloat ultrasonic;
mRawDataInterface->retrieveUltrasonic(raw_ultrasonic);
m_ultrasonic_buffer.push_back(raw_ultrasonic.value);
if (m_ultrasonic_buffer.size() > 3) {
m_ultrasonic_buffer.pop_front();
}
float ultrasonic_sum = 0;
for (auto ultrasonic_element : m_ultrasonic_buffer) {
ultrasonic_sum += ultrasonic_element;
}
m_ultrasonic_average = ultrasonic_sum / m_ultrasonic_buffer.size();
m_p_local_mapping->getDepthMapWithFrontUltrasonic(m_local_map, false, tfmsgTo2DPose(resList[0]), m_ultrasonic_average);
return true;
}
void AlgoFollow::trackHead(const float target_theta_head) {
float w = 0.0f;
float head_pitch_speed = 0.0f;
float head_yaw_speed = 0.0f;
mRawDataInterface->retrieveHeadPos(raw_headpos);
// yaw
if (m_p_head_yaw_tracker){
if (m_is_detected)
head_yaw_speed = m_p_head_yaw_tracker->calculate(target_theta_head, raw_headpos.yaw);
else
head_yaw_speed = m_p_head_yaw_tracker->calculate(raw_headpos.yaw, raw_headpos.yaw);
}
// yaw
if (m_p_head_pitch_tracker)
head_pitch_speed = m_p_head_pitch_tracker->calculate(0.5f, raw_headpos.pitch);
// // pitch
// const int HEIGHT_COLOR_IMG = 480;
// if (m_roi_color.y < HEIGHT_COLOR_IMG / 6){
// if (raw_headpos.pitch > 1.0f){
// head_pitch_speed = -0.1f;
// }
// else {
// head_pitch_speed = 0.3f;
// }
// } else if (m_roi_color.y > ( HEIGHT_COLOR_IMG / 4)){
// if (raw_headpos.pitch < 0.05f){
// head_pitch_speed = 0.1f;
// }
// else {
// head_pitch_speed = -0.3f;
// }
// }
// else {
// head_pitch_speed = 0.0f;
// }
mRawDataInterface->ExecuteHeadMode(1);
if (m_is_track_head)
mRawDataInterface->ExecuteHeadSpeed(head_yaw_speed,head_pitch_speed,0);
else
mRawDataInterface->ExecuteHeadSpeed(0.0f,head_pitch_speed,0);
ALOGD("trackHead: target_theta_head = %f, yaw_speed = %f, pitch_speed = %f", target_theta_head, head_yaw_speed, head_pitch_speed);
}
void AlgoFollow::trackVehicle(const float target_distance, const float target_theta) {
float vehicle_linear_velocity, vehicle_angular_velocity;
if (m_is_track_vehicle) {
if (m_is_detected && target_distance > 0) {
if (target_distance > 1.5) {
vehicle_linear_velocity = m_p_vehicle_tracker->calculate(target_distance - 1.2f, 0.0);
vehicle_angular_velocity = vehicle_linear_velocity / fmin(2.0f,target_distance) * target_theta * 2.0f;
}
else {
vehicle_linear_velocity = m_p_vehicle_tracker->calculate(0.0, 0.0);
vehicle_linear_velocity = 0.0f;
if (abs(target_theta) > 0.2) {
vehicle_angular_velocity = target_theta * 1.0f;
}
else {
vehicle_angular_velocity = 0.0f;
}
}
}
else {
vehicle_linear_velocity = m_p_vehicle_tracker->calculate(0.0, 0.0);
vehicle_linear_velocity = 0.0f;
vehicle_angular_velocity = 0.0f;
}
this->safeControl(vehicle_linear_velocity, vehicle_angular_velocity);
}
ALOGD("trackVehicle: target_distance = %.2f, target_theta = %.2f, vehicle_linear_velocity = %.2f, vehicle_angular_velocity=%.2f", target_distance, target_theta, vehicle_linear_velocity, vehicle_angular_velocity);
}
void AlgoFollow::ExtractTarget(float & target_distance, float & target_theta_wrt_head){
mRawDataInterface->retrieveHeadPos(raw_headpos);
m_p_depth_processor->setPitch(raw_headpos.pitch);
ALOGD("ExtractTarget: setPitch = %f", raw_headpos.pitch);
cv::Mat hist_image;
bool is_dist_valid = m_p_depth_processor->process(raw_depth, m_roi_color, m_roi_depth, hist_image, target_distance, target_theta_wrt_head);
// target_theta_wrt_head = -target_theta_wrt_head;
ALOGD("ExtractTarget: is_dist_valid = %d", is_dist_valid);
ALOGD("ExtractTarget: target_distance = %f", target_distance);
ALOGD("ExtractTarget: raw_headpos.yaw = %.2f, target_theta_wrt_head = %.2f, target_theta_wrt_head (manual) = %.2f", raw_headpos.yaw, target_theta_wrt_head, (float) 0.5f - (m_roi_color.x + m_roi_color.width / 2.0f ) / 640.0f );
// target_theta_wrt_head = (float) m_roi_color.x / 640.f - 0.5f;
}
void AlgoFollow::renderDisplay() {
/*! Draw the result to canvas */
canvas.setTo(240);
if(imgstream_en){
if(!raw_color.image.empty()){
cv::Mat show_color;
const float resize_show_color = 0.5;
cv::resize(raw_color.image, show_color, cv::Size(), resize_show_color, resize_show_color);
if (m_is_detected)
cv::rectangle(show_color, cv::Rect(int(m_roi_color.x * resize_show_color), int(m_roi_color.y * resize_show_color), int(m_roi_color.width * resize_show_color), int(m_roi_color.height * resize_show_color)), Scalar(0, 0, 0), 10);
cv::Mat flip_color; // dst must be a different Mat
cv::flip(show_color, flip_color, 1); // because you can't flip in-place (leads to segfault)
cv::Mat ca1 = canvas(cv::Rect(0, 0, flip_color.cols, flip_color.rows));
flip_color.copyTo(ca1);
}
if(!raw_depth.image.empty()){
cv::Mat show_depth, rescale_depth;
const float resize_show_depth = 1.0;
cv::resize(raw_depth.image, rescale_depth, cv::Size(), resize_show_depth, resize_show_depth);
rescale_depth /= 10;
rescale_depth.convertTo(show_depth, CV_8U);
applyColorMap(show_depth, show_depth, cv::COLORMAP_JET);
if (m_is_detected)
cv::rectangle(show_depth, cv::Rect(int(m_roi_depth.x * resize_show_depth), int(m_roi_depth.y * resize_show_depth), int(m_roi_depth.width * resize_show_depth), int(m_roi_depth.height * resize_show_depth)), Scalar(0, 0, 0), 10);
ALOGD("m_roi_depth: (%f,%f,%f,%f)", m_roi_depth.x, m_roi_depth.y, m_roi_depth.width, m_roi_depth.height);
cv::Mat flip_depth; // dst must be a different Mat
cv::flip(show_depth, flip_depth, 1); // because you can't flip in-place (leads to segfault)
cv::Mat ca2 = canvas(cv::Rect(320, 0, flip_depth.cols, flip_depth.rows));
flip_depth.copyTo(ca2);
}
string contents;
if (m_is_track_head){
contents = "Head: On";
}
else {
contents = "Head: Off";
}
putText(canvas, contents, cv::Point(0, 300), CV_FONT_HERSHEY_COMPLEX, 1, cv::Scalar(0,0,0), 2);
if (m_is_track_vehicle){
contents = "Wheel: On";
}
else {
contents = "Wheel: Off";
}
putText(canvas, contents, cv::Point(0, 330), CV_FONT_HERSHEY_COMPLEX, 1, cv::Scalar(0,0,0), 2);
if (m_target_distance > 0) {
contents = "D: " + ToString(m_target_distance);
putText(canvas, contents, cv::Point(200, 300), CV_FONT_HERSHEY_COMPLEX, 1.5, cv::Scalar(0,0,0), 2);
contents = "A: " + ToString(m_target_theta/3.14*180.0);
putText(canvas, contents, cv::Point(400, 300), CV_FONT_HERSHEY_COMPLEX, 1.5, cv::Scalar(0,0,0), 2);
}
}
}
bool AlgoFollow::loadConfig(float & head_kp, float & head_ki, float & head_kd, float & vehicle_kp, float & vehicle_ki, float & vehicle_kd)
{
head_kp = 1.5f;
head_ki = 0.10f;
head_kd = 0.01f;
vehicle_kp = 0.50f;
vehicle_ki = 0.01f;
vehicle_kd = 0.01f;
m_down_scale = 8;
PARAM_SETTING param_setting = (PARAM_SETTING)0;
std::ifstream ifconfig;
std::string line;
std::string filename = "/sdcard/follow.cfg";
ifconfig.open(filename);
if (!ifconfig.is_open())
{
ALOGD("failed to open config file '%s'", filename.c_str());
return false;
}
ALOGD("opened config file '%s'", filename.c_str());
int idx_config = 0;
while (std::getline(ifconfig, line)) {
std::istringstream iss(line);
std::string parameter;
while (iss >> parameter)
{
char c = parameter[0];
if (c == '#')
break;
const char *_Ptr = parameter.c_str();
char *_Eptr;
float param_value = strtod(_Ptr, &_Eptr);
switch (param_setting)
{
case HEAD_KP:
ALOGD("config loaded, HEAD_KP = %f", param_value);
head_kp = param_value;
break;
case HEAD_KI:
ALOGD("config loaded, HEAD_KI = %f", param_value);
head_ki = param_value;
break;
case HEAD_KD:
ALOGD("config loaded, HEAD_KD = %f", param_value);
head_kd = param_value;
break;
case VEHICLE_KP:
ALOGD("config loaded, VEHICLE_KD = %f", param_value);
vehicle_kp = param_value;
break;
case VEHICLE_KI:
ALOGD("config loaded, VEHICLE_KD = %f", param_value);
vehicle_ki = param_value;
break;
case VEHICLE_KD:
ALOGD("config loaded, VEHICLE_KD = %f", param_value);
vehicle_kd = param_value;
break;
case IMG_DOWNSCALE:
ALOGD("config loaded, m_down_scale = %f", param_value);
m_down_scale = int(param_value);
break;
}
}
idx_config++;
param_setting = (PARAM_SETTING)idx_config;
}
ALOGD("config: head_kp = %.2f, head_ki = %.2f, head_kd = %.2f", head_kp, head_ki, head_kd);
return true;
}
} // namespace follow_algo
} // namespace ninebot_algo