Colony

Revision 938

OpenCV now works directly with firewire, coriander is not needed
New vision algorithm integrated, a few issues left with algorithm that
tracks the movement of a specific robot
Removed experimental interface to send images over commands socket
--plan to use php in webserver instead
Separated processing of client requests into a separate thread
Fixed bugs updating UI of java client

#define MIN_PADDING 70

//#define CAPTURE

#define CAPTURE

struct CenterP {

  CvPoint center;

int main(int argc, char *argv[])

{

#ifdef CAPTURE

  CvCapture* capture = cvCaptureFromCAM( -1 );

  CvCapture* capture = cvCaptureFromCAM( 0 );

  if( !capture ) {

    fprintf( stderr, "ERROR: capture is NULL \n" );

    return -1;

    //If ESC key pressed, Key=0x10001B under OpenCV 0.9.7(linux version),

    //remove higher bits using AND operator

  } while((cvWaitKey(0) & 255) != 27);

  } while((cvWaitKey(10) & 255) != 27);

#ifdef CAPTURE

  // Release the capture device housekeeping

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