[WiiC] Wiic returns invalid IR coordinates! (under ubuntu10.10 with wiic1.1)

[Christian M. <chr...@sm...>]

Hello everybody!

First time here!  I am working with wiic library. First:  Thanks a lot 
for providing it.
It works fine with the connection of multiple wii remotes and the 
tracking of Ir sources.

However I have some little problem which I couldn't solve yet. For any 
help or suggestions I would be very happy.

The setup looks like that:  I need to track four IR lights which are 
mounted on a robot.
The wii remote is positioned about 1m from the robot. But the wii remote 
is able to see all four lights on the robot.
I am able to track them easily with cwii library.  This is the code from 
an example which I found on the website. I also use it for getting the 
coordinates of the IR sources:

std::vector<CIRDot>::iterator i;
int x, y;
std::vector<CIRDot>& dots = wm.IR.GetDots();
std::vector<CPoint2d> irLights;

sprintf(prefixString, "Controller [%i]: ", wm.GetID());

printf("%s Num IR Dots: %i\n", prefixString, wm.IR.GetNumDots());
      for (i = dots.begin(); i != dots.end(); ++i) {

             if ((*i).isVisible())
             {
                 (*i).GetCoordinate(x, y);
                 printf("Fill Coords ");
                 CPoint2d irLights;
                 irLights.x = x;
                 irLights.y = y;
                 wiiRemoteListener.setIrLight(irLights);

                printf("%s IR source: (%i, %i)\n", prefixString, x, y);

             }
       }

So if there are four IR sources I can the output like that....

Controller [1]:  Num IR Dots: 4
Fill Coords Controller [1]:  IR source: (343, 219)
Fill Coords Controller [1]:  IR source: (203, 123)
Fill Coords Controller [1]:  IR source: (475, 192)
Fill Coords Controller [1]:  IR source: (285, 792)

...everything is fine!

NOW the error comes: If I remove one IR source...

Controller [1]:  Num IR Dots: 3
Fill Coords Controller [1]:  IR source: (233, 239)
Fill Coords Controller [1]:  IR source: (483, 113)

..so the number of dots = 3 is correct but just coordinates of 2 sources 
are there! So just 2 times the if statment ( if ((*i).isVisible()) ) is 
entered. I checked out that the isVisible() method does not return true.
So if I remove the if statement then I get the output like...

Controller [1]:  Num IR Dots: 3
Fill Coords Controller [1]:  IR source: (343, 219)
Fill Coords Controller [1]:  IR source: (0, 1023)
Fill Coords Controller [1]:  IR source: (475, 192)

... there you can see that the number of dots is 3 and that is correct! 
and even 3 coordinates are available, but one is not correct -> (0, 1023).

I tried it several time. The result is always the same. I output the 
data directly after the library function call. So I suppose that 
something  is going wrong there. Maybe some vector is not correctly 
initialized?
I tried to search for it, but with out success. Does anybody has 
observed the same behavior?

For suggestion to find out what might be the cause for that I would be 
very thankful!!!

Thanks in advanced!

  Christian