void opp_bot::update(){
Mat roi_image = image(location);
GaussianBlur( roi_image, roi_image, Size( 3, 3 ), 0, 0 );
cvtColor(roi_image, roi_image, CV_BGR2HSV);
mask[0] = Mat::zeros(roi_image.rows,roi_image.cols,CV_8UC1);
pick_color( roi_image, mask[0], color );
imshow("opp bot mask", mask[0]);
FindCenter();
cvtColor(roi_image, roi_image, CV_HSV2BGR);
if( center.x != 0 ){
center = Point( center.x + location.x, center.y + location.y );
update_location( location, center );
}
else{
expand_location( location );
}
limit_location_within_arena( location );
}
void clusterfnc::Merge(clusterdat* c1, clusterdat* c2){ //c2 and c1 are going to be in c3 from now on.
int index = 0;
for (index=0;index<640*480;index++) {
if (!(c2->points[index]==0)) {
c1->points[index] = c2->points[index];
}
}
c1->pntfnc.Center(&c1->center,&c2->center,&c1->center);
CalculateVolume(c1);
FindCenter(c1);
}
void clusterfnc::Flatten(clusterdat* c1, int maxDepth){
float maxZValue = c1->vol.location.z + maxDepth;
if (c1->vol.depth > maxDepth) {
int index = 0;
for (index=0;index<640*480;index++) {
if (!(c1->points[index]==0)) {
if (c1->points[index]->z > maxDepth) {
c1->points[index]->z = maxDepth; //ALTERED
}
}
}
FindCenter(c1);
CalculateVolume(c1);
}
}
void our_bot::update(){
Mat roi_image;
roi_image = image(location);
GaussianBlur( roi_image, roi_image, Size( 3, 3 ), 0, 0 );
cvtColor(roi_image, roi_image, CV_BGR2HSV);
mask[0] = Mat::zeros(roi_image.rows,roi_image.cols,CV_8UC1);
mask[1] = Mat::zeros(roi_image.rows,roi_image.cols,CV_8UC1);
mask[2] = Mat::zeros(roi_image.rows,roi_image.cols,CV_8UC1);
pick_color( roi_image,mask[0], basecolor );
pick_color( roi_image,mask[1], lcolor );
pick_color( roi_image,mask[2], rcolor );
imshow("base",mask[0]);
imshow("left",mask[1]);
imshow("right",mask[2]);
FindCenter();
cvtColor(roi_image, roi_image, CV_HSV2BGR);
if( front_center.x != 0 && back_center.x != 0 ){
//Taking care for the relative position changes due to ROI.
front_center = Point( front_center.x + location.x, front_center.y + location.y );
back_center = Point( back_center.x + location.x, back_center.y + location.y );
bot_center = Point( ( front_center.x + back_center.x ) / 2, ( front_center.y + back_center.y ) / 2 );
update_location( location, bot_center );
// cout<<"bot found!!"<<endl;
}
else{
expand_location( location );
}
limit_location_within_arena( location );
// cout<<"location = "<<location.x<<' '<<location.y
// <<' '<<location.width<<' '<<location.height<<endl;
pos();
orientation();
}
void CScanImage::OnButton1()
{
// TODO: Add your control notification handler code here
okCaptureTo(hBoard,BUFFER,0,CROSS_CAPTURE_NUM);//采集一幅图像
okGetCaptureStatus(hBoard,1);//等待采集完毕
long lBitNumber=CAMERA_WIDTH*CAMERA_HEIGHT;//单幅图像数据所需空间大小
cData=new unsigned char[lBitNumber]; //开辟自用图像数据区
memcpy(cData, lpLinear, lBitNumber); //将BUFFER中数据拷贝到开辟的自由图像数据区
int nCenterX,nCenterY;
int nWidth=CAMERA_WIDTH;
int nHeight=CAMERA_HEIGHT;
FindCenter(cData,nCenterX,nCenterY,nWidth,nHeight);//在当前的图像数据中，寻找亮度极大值点（作为十字叉中心）
delete cData;
m_nXPos=nCenterX;
m_nYPos=nCenterY;
Invalidate();
}
void Cluster::Flatten(int maxDepth){
float maxZValue = vol.location->z + maxDepth;
std::vector<Point*> newlist;
std::vector<Point*>::iterator iter;
Point *p;
if (vol.depth > maxDepth)
{
for (iter=points.begin();iter<points.end();iter++) {
//go through list, make new list, apply to old list
p = (Point*)*iter;
if (p->z<maxZValue) {
newlist.push_back(new Point(p));
}
}
points = newlist;
FindCenter();
CalculateVolume();
}
}
