dependencies:
libtesseract-dev
libopencv-dev
qt5
when detecting loco/wagon, we restrict the detection of objects on the area known to be the track.
This allows noise outide the track to be elliminated. But while the track is getting learned, the locomotive
is being searched in the whole image. Therefore, during the learning process, it might be necessary to stage
the area manually by covering any objects that could interfere and possibly using a bigger sticker.
------------------------------------------------------------------------------------
/--------B-----------------------A----\
| \ \ \
| | | | |
| | | | |
| | | |
| / / |
\--------C----D------------------/
Turnouts: t1 is always the straight track, and t2 is the fork
A: t1=outter, t2=main
B: t1=main, t2=loop
C: t1=main, t2=loop
D: t1=main, t2=inner
So to move to another track:
move (rev/fwd) to before/after turnout
activate turnout
move (rev/fwd) to after/before turnout
activate turnout in opposite way
move to destination on track (could be another turnout or waypoint)
if "loop" would be a inner loop (without B), how do we know wheter we wanna backup or fwd to splitter?
need to find shortest path between both scenarios
same thing for when we wanna reach inner parking
track1 tells use if we need to fwd/rev into the turnout, but does not tell use
the direction to use to first reach it.
So when calculating distance between 2 points on track (getDistanceOnTrack()):
check if track loops:
to know if poly loops: look at how close start and end are)
if not loop
calculate distance going in the direction defined by track1
if loop:
calculate fwd/rev and choose shortest one
in both cases, we must return the distance+direction (negative number?)