commit 54e997e7528978d4ea39486c0c62204344408a6e
author danielp <danielp@f308d9b7-e957-4cde-b6ac-9a88185e7312> Thu Feb 21 01:54:23 2013 +0000
committer danielp <danielp@f308d9b7-e957-4cde-b6ac-9a88185e7312> Thu Feb 21 01:54:23 2013 +0000
tree e0f6a5616c0c6cd6607954fd3ea78d0ed1611c1c
parent 4a35a7a0dff9813ddee3027a913f33b9fa457d8f

-Client optimizations
-Implemented comprehensize logging system


git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4143 f308d9b7-e957-4cde-b6ac-9a88185e7312

971CV/src/org/frc971/Recognizer2013.java

diff --git a/971CV/src/org/frc971/Recognizer2013.java b/971CV/src/org/frc971/Recognizer2013.java
index 115af27..7fbf28e 100644
--- a/971CV/src/org/frc971/Recognizer2013.java
+++ b/971CV/src/org/frc971/Recognizer2013.java
@@ -1,6 +1,7 @@
 package org.frc971;

 

 import java.util.ArrayList;

+import java.util.logging.Logger;

 

 import com.googlecode.javacv.cpp.opencv_core;

 import com.googlecode.javacv.cpp.opencv_core.CvSize;

@@ -24,6 +25,8 @@
  * @author jerry

  */

 public class Recognizer2013 implements Recognizer {

+	

+	private final static Logger LOG = Logger.getLogger(Logger.GLOBAL_LOGGER_NAME);

 

     // --- Tunable recognizer constants.

     static final double kRoughlyHorizontalSlope = Math.tan(Math.toRadians(30));

@@ -240,7 +243,7 @@
             rawImage.drawPolygon(bestTarget, targetColor, 2);

             measureTarget(bestTarget);

         } else {

-            System.out.println("No target found");

+            LOG.fine("No target found");

         }

 

         // Draw a crosshair

@@ -271,12 +274,10 @@
         double elevationCam = Math.atan2(yc * 2 * kTanVFOV2, vh);

         double rangeIn = kTargetWidthIn * vw / (w * 2 * kTanHFOV2);

 

-        System.out.format("Best target at (%.2f, %.2f) %.2f x %.2f"

-                + ", shot azimuth=%.2f elevation=%.2f range=%.2f'%n",

-                x, y, w, h,

-                Math.toDegrees(azimuthCam) - kShooterOffsetDeg,

-                Math.toDegrees(elevationCam) + kCameraPitchDeg,

-                rangeIn / 12);

+        LOG.fine("Best target at (" + x + ", " + y + ") " + w +" x " + h

+                + ", shot azimuth=" + (Math.toDegrees(azimuthCam) - kShooterOffsetDeg) + 

+                " elevation=" + (Math.toDegrees(elevationCam) + kCameraPitchDeg) + 

+                " range=" + (rangeIn / 12));

     }

 

 }