/**
* Finds the CvScalar in colors closest to t using the colorDistance function.
* @param t The color to look for
* @param scolors The colors to look through
* @param numColors The length of scolors
* @returns The index of scolors that t is closest to
* (i.e., colorDistance( t, scolors[result]) <=
* colorDistance( t, scolors[i]) for all i != result)
*/
int findClosest(CvScalar t, CvScalar* scolors, int numColors) {
int rv = 0, // return value
i; // used to iterate
double d, // stores the result of distance
m = colorDistance(t, scolors[0]); // the current minmum distance
// TODO: iterate over scolors
for(i=1;i<numColors;i++){
// TODO: compute the distance between t and scolors[i]
d = colorDistance(t, scolors[i]);
// TODO: check if the distance is less then current minimum
if(d<m){
rv = i;
m = d;
}
}
return rv;
}
bool SingleRemap::apply() {
const GfxRemap32 *const gfxRemap32 = g_sci->_gfxRemap32;
const uint8 remapStartColor = gfxRemap32->getStartColor();
// Blocked colors are not allowed to be used as target
// colors for the remap
bool blockedColors[236];
Common::fill(blockedColors, blockedColors + remapStartColor, false);
const bool *const paletteCycleMap = g_sci->_gfxPalette32->getCycleMap();
const int16 blockedRangeCount = gfxRemap32->getBlockedRangeCount();
if (blockedRangeCount) {
const uint8 blockedRangeStart = gfxRemap32->getBlockedRangeStart();
Common::fill(blockedColors + blockedRangeStart, blockedColors + blockedRangeStart + blockedRangeCount, true);
}
for (uint i = 0; i < remapStartColor; ++i) {
if (paletteCycleMap[i]) {
blockedColors[i] = true;
}
}
// NOTE: SSCI did a loop over colors here to create a
// new array of updated, unblocked colors, but then
// never used it
bool updated = false;
for (uint i = 1; i < remapStartColor; ++i) {
int distance;
if (!_idealColorsChanged[i] && !_originalColorsChanged[_remapColors[i]]) {
continue;
}
if (
_idealColorsChanged[i] &&
_originalColorsChanged[_remapColors[i]] &&
_matchDistances[i] < 100 &&
colorDistance(_idealColors[i], _originalColors[_remapColors[i]]) <= _matchDistances[i]
) {
continue;
}
const int16 bestColor = matchColor(_idealColors[i], _matchDistances[i], distance, blockedColors);
if (bestColor != -1 && _remapColors[i] != bestColor) {
updated = true;
_remapColors[i] = bestColor;
_matchDistances[i] = distance;
}
}
return updated;
}
/// Get diameter color range.
void ColorBlock::diameterRange(Color32 * start, Color32 * end) const
{
Color32 c0, c1;
uint best_dist = 0;
for(int i = 0; i < 16; i++) {
for (int j = i+1; j < 16; j++) {
uint dist = colorDistance(m_color[i], m_color[j]);
if( dist > best_dist ) {
best_dist = dist;
c0 = m_color[i];
c1 = m_color[j];
}
}
}
*start = c0;
*end = c1;
}
void CImageProc::teamAndBallIdentify( void ) {
for (row=1; row < IMAGE_HEIGHT; row++){
label[0][row] = 0;
color[0][row] = 0;
}
for (col=0; col < IMAGE_WIDTH; col++){
label[col][0] = 0;
color[col][0] = 0;
}
numcolor = 0;
eq_set.clear();
eq_set.push_back(0);
luas_area.clear();
locatex.clear();
locatey.clear();
label2color.clear();
for (row=1; row < IMAGE_HEIGHT; row++){
for (col=1; col < IMAGE_WIDTH; col++){
if (colorDistance(MatImage.at<cv::Vec3b>(row, col), homeTeamColor) < thresholdval) {
color[col][row] = 1;
}else /**/if (colorDistance(MatImage.at<cv::Vec3b>(row, col), oppoTeamColor) < thresholdval) {
color[col][row] = 2;
} else /**/if (colorDistance(MatImage.at<cv::Vec3b>(row, col), ballColor) < thresholdval) {
color[col][row] = 3;
} else {
label[col][row] = 0;
color[col][row] = 0;
}
if (color[col][row] != 0){
if (color[col][row-1] == color[col][row] && color[col-1][row] != color[col][row]){
label[col][row] = label[col][row-1];
} else if(color[col-1][row] == color[col][row] && color[col][row-1] != color[col][row]){
label[col][row] = label[col-1][row];
} else if(color[col-1][row] == color[col][row] && color[col][row-1] == color[col][row]){
label[col][row] = label[col][row-1];
if (label[col-1][row] != label[col][row]){
eq_set[label[col-1][row]] = eq_set[label[col][row]];
}
} else {
numcolor++;
label[col][row] = numcolor;
eq_set.push_back(numcolor);
}
} /**/
}
}
for (row=0; row < IMAGE_HEIGHT; row++){
for (col=0; col < IMAGE_WIDTH; col++){
if(eq_set[label[col][row]] != label[col][row])
label[col][row] = eq_set[label[col][row]];
if(label[col][row] != 0){
label2color[label[col][row]] = color[col][row];
luas_area[label[col][row]]++;
locatex[label[col][row]] += col;
locatey[label[col][row]] += row;
}
}
}
for(it = luas_area.begin(); it != luas_area.end() ; it++){
if((*it).second < 100)
continue;
cv::Point2i thisPoint;
thisPoint.x = locatex[(*it).first]/(*it).second;
thisPoint.y = locatey[(*it).first]/(*it).second;
if(label2color[(*it).first] == 1){
homeTeamColorPoint.push_back(thisPoint);
}else if(label2color[(*it).first] == 2)
oppoTeamColorPoint.push_back(thisPoint);
else
ballColorPoint = thisPoint;
}
cout<< "Ball Location : "
<< ballColorPoint.x << ","
<< ballColorPoint.y << endl;
rectangle(MatImage,
cv::Point(ballColorPoint.x-10, ballColorPoint.y-10),
cv::Point(ballColorPoint.x+10, ballColorPoint.y+10),
cv::Scalar(255,255,0,0));
//text = "Ball";
sprintf_s( text, "Ball" );
putText(MatImage, text , cv::Point(ballColorPoint.x, ballColorPoint.y), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(255,255,255));
//for(int i=0; i<homeTeamColorPoint.size(); i++){
// //cout<< "Team " << i+1 <<" Location : "
// // << homeTeamColorPoint[i].x << ","
// // << homeTeamColorPoint[i].y << endl;
// //rectangle(MatImage,
// // cv::Point(homeTeamColorPoint[i].x-2, homeTeamColorPoint[i].y-2),
// // cv::Point(homeTeamColorPoint[i].x+2, homeTeamColorPoint[i].y+2),
// // cv::Scalar(255,255,0,0));
// //sprintf_s( id, "T%d", (i+1));
// //putText(MatImage, id , cv::Point(homeTeamColorPoint[i].x, homeTeamColorPoint[i].y), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(255,255,255));
//}
for(int i=0; i<oppoTeamColorPoint.size(); i++){
//cout<< "Opponent " << i+1 <<" Location : "
// << oppoTeamColorPoint[i].x << ","
// << oppoTeamColorPoint[i].y << endl;
rectangle(MatImage,
cv::Point(oppoTeamColorPoint[i].x-10, oppoTeamColorPoint[i].y-10),
cv::Point(oppoTeamColorPoint[i].x+10, oppoTeamColorPoint[i].y+10),
cv::Scalar(255,255,0,0));
sprintf_s( text, "O%d", (i+1));
putText(MatImage, text , cv::Point(oppoTeamColorPoint[i].x, oppoTeamColorPoint[i].y), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(255,255,255));
}
}
void CImageProc::findHomeRobot( void ){
for (row=1; row < IMAGE_HEIGHT; row++){
label[0][row] = 0;
color[0][row] = 0;
}
for (col=0; col < IMAGE_WIDTH; col++){
label[col][0] = 0;
color[col][0] = 0;
}
numcolor = 0;
eq_set.clear();
eq_set.push_back(0);
luas_area.clear();
locatex.clear();
locatey.clear();
label2color.clear();
for (row=1; row < IMAGE_HEIGHT; row++){
for (col=1; col < IMAGE_WIDTH; col++){
if (colorDistance(MatImage.at<cv::Vec3b>(row, col), homeFirstColor) < thresholdval) {
color[col][row] = 1;
}else /**/if (colorDistance(MatImage.at<cv::Vec3b>(row, col), homeSecondColor) < thresholdval) {
color[col][row] = 2;
} else /**/if (colorDistance(MatImage.at<cv::Vec3b>(row, col), homeThirdColor) < thresholdval) {
color[col][row] = 3;
} else /**/if (colorDistance(MatImage.at<cv::Vec3b>(row, col), secondaryColor) < thresholdval) {
color[col][row] = 4;
} else {
label[col][row] = 0;
color[col][row] = 0;
}
if (color[col][row] != 0){
if (color[col][row-1] == color[col][row] && color[col-1][row] != color[col][row]){
label[col][row] = label[col][row-1];
} else if(color[col-1][row] == color[col][row] && color[col][row-1] != color[col][row]){
label[col][row] = label[col-1][row];
} else if(color[col-1][row] == color[col][row] && color[col][row-1] == color[col][row]){
label[col][row] = label[col][row-1];
if (label[col-1][row] != label[col][row]){
eq_set[label[col-1][row]] = eq_set[label[col][row]];
}
} else {
numcolor++;
label[col][row] = numcolor;
eq_set.push_back(numcolor);
}
} /**/
}
}
for (row=0; row < IMAGE_HEIGHT; row++){
for (col=0; col < IMAGE_WIDTH; col++){
if(eq_set[label[col][row]] != label[col][row])
label[col][row] = eq_set[label[col][row]];
if(label[col][row] != 0){
label2color[label[col][row]] = color[col][row];
luas_area[label[col][row]]++;
locatex[label[col][row]] += col;
locatey[label[col][row]] += row;
}
}
}
for(it = luas_area.begin(); it != luas_area.end() ; it++){
if((*it).second < 100)
continue;
cv::Point2i thisPoint;
thisPoint.x = locatex[(*it).first]/(*it).second;
thisPoint.y = locatey[(*it).first]/(*it).second;
if(label2color[(*it).first] == 1)
firstColorPoint.push_back(thisPoint);
else if(label2color[(*it).first] == 2)
secondColorPoint.push_back(thisPoint);
else if(label2color[(*it).first] == 3)
thirdColorPoint.push_back(thisPoint);
else
secondaryColorPoint.push_back(thisPoint);
}
for(int i=0; i<firstColorPoint.size(); i++){
dx = 0;
dy = 0;
dst = 0;
nearestTeamPoint = -1;
nearestDistance = 9999;
isSecondary = false;
for(int j = 0; j<homeTeamColorPoint.size(); j++){
dx = abs(homeTeamColorPoint[j].x-firstColorPoint[i].x);
dy = abs(homeTeamColorPoint[j].y-firstColorPoint[i].y);
dst = (short)sqrt((double)dx*dx+dy*dy);
if( dst < nearestDistance){
nearestTeamPoint = j;
nearestDistance = dst;
}
}
if(nearestDistance>30) continue;
nearestSecondPoint = -1;
nearestDistance = 9999;
for(int j=0; j<secondaryColorPoint.size(); j++){
dx = abs(secondaryColorPoint[j].x-firstColorPoint[i].x);
dy = abs(secondaryColorPoint[j].y-firstColorPoint[i].y);
dst = (short)sqrt((double)dx*dx+dy*dy);
if( dst < nearestDistance){
nearestSecondPoint = j;
nearestDistance = dst;
}
}
int x = 0;
if(nearestDistance<=30){
isSecondary = true;
x = 4;
} else
x = 1;
dsy = (homeTeamColorPoint[nearestTeamPoint].y - firstColorPoint[i].y);
dsx = (firstColorPoint[i].x - homeTeamColorPoint[nearestTeamPoint].x);
angle = (int)(atan2(dsy,dsx)*180/M_PI)+45;
locx = (firstColorPoint[i].x + homeTeamColorPoint[nearestTeamPoint].x)/2;
locy = (firstColorPoint[i].y + homeTeamColorPoint[nearestTeamPoint].y)/2;
cout << "Team " << x << " location : "
<< locx << ","
<< locy << ","
<< (angle>=0?angle:(angle+360)) << endl;
//cout << x << " : " << dsy << " " << dsx << " : " << a << endl;
//cout << "\t" << atan2(-45.0,-45.0)*180/M_PI+360 << endl;
//cout << "\t" << homeTeamColorPoint[nearestTeamPoint].x << ","
// << homeTeamColorPoint[nearestTeamPoint].y << " vs "
// << secondColorPoint[i].x << ","
// << secondColorPoint[i].y << endl;
rectangle(MatImage,
cv::Point(locx-5, locy-5),
cv::Point(locx+5, locy+5),
cv::Scalar(255,255,0,0));
sprintf_s( text, "%d", x);
putText(MatImage, text , cv::Point(locx, locy), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(255,255,255));
}
for(int i=0; i<secondColorPoint.size(); i++){
dx = 0;
dy = 0;
dst = 0;
nearestTeamPoint = -1;
nearestDistance = 9999;
isSecondary = false;
for(int j = 0; j<homeTeamColorPoint.size(); j++){
dx = abs(homeTeamColorPoint[j].x-secondColorPoint[i].x);
dy = abs(homeTeamColorPoint[j].y-secondColorPoint[i].y);
dst = (short)sqrt((double)dx*dx+dy*dy);
if( dst < nearestDistance){
nearestTeamPoint = j;
nearestDistance = dst;
}
}
if(nearestDistance>30) continue;
nearestSecondPoint = -1;
nearestDistance = 9999;
for(int j=0; j<secondaryColorPoint.size(); j++){
dx = abs(secondaryColorPoint[j].x-secondColorPoint[i].x);
dy = abs(secondaryColorPoint[j].y-secondColorPoint[i].y);
dst = (short)sqrt((double)dx*dx+dy*dy);
if( dst < nearestDistance){
nearestSecondPoint = j;
nearestDistance = dst;
}
}
int x = 0;
if(nearestDistance<=30){
isSecondary = true;
x = 5;
} else
x = 2;
dsy = (homeTeamColorPoint[nearestTeamPoint].y - secondColorPoint[i].y);
dsx = (secondColorPoint[i].x - homeTeamColorPoint[nearestTeamPoint].x);
angle = (int)(atan2(dsy,dsx)*180/M_PI)+45;
locx = (secondColorPoint[i].x + homeTeamColorPoint[nearestTeamPoint].x)/2;
locy = (secondColorPoint[i].y + homeTeamColorPoint[nearestTeamPoint].y)/2;
cout << "Team " << x << " location : "
<< locx << ","
<< locy << ","
<< (angle>=0?angle:(angle+360)) << endl;
//cout << x << " : " << dsy << " " << dsx << " : " << a << endl;
//cout << "\t" << atan2(-45.0,-45.0)*180/M_PI+360 << endl;
//cout << "\t" << homeTeamColorPoint[nearestTeamPoint].x << ","
// << homeTeamColorPoint[nearestTeamPoint].y << " vs "
// << secondColorPoint[i].x << ","
// << secondColorPoint[i].y << endl;
rectangle(MatImage,
cv::Point(locx-5, locy-5),
cv::Point(locx+5, locy+5),
cv::Scalar(255,255,0,0));
sprintf_s( text, "%d", x);
putText(MatImage, text , cv::Point(locx, locy), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(255,255,255));
}
for(int i=0; i<thirdColorPoint.size(); i++){
dx = 0;
dy = 0;
dst = 0;
nearestTeamPoint = -1;
nearestDistance = 9999;
isSecondary = false;
for(int j = 0; j<homeTeamColorPoint.size(); j++){
dx = abs(homeTeamColorPoint[j].x-thirdColorPoint[i].x);
dy = abs(homeTeamColorPoint[j].y-thirdColorPoint[i].y);
dst = (short)sqrt((double)dx*dx+dy*dy);
if( dst < nearestDistance){
nearestTeamPoint = j;
nearestDistance = dst;
}
}
if(nearestDistance>30) continue;
short nearestPoint = -1;
nearestDistance = 9999;
for(int j=0; j<secondaryColorPoint.size(); j++){
dx = abs(secondaryColorPoint[j].x-thirdColorPoint[i].x);
dy = abs(secondaryColorPoint[j].y-thirdColorPoint[i].y);
dst = (short)sqrt((double)dx*dx+dy*dy);
if( dst < nearestDistance){
nearestPoint = j;
nearestDistance = dst;
}
}
int x = 0;
if(nearestDistance<=30){
isSecondary = true;
x = 6;
} else
x = 3;
dsy = (homeTeamColorPoint[nearestTeamPoint].y - thirdColorPoint[i].y);
dsx = (thirdColorPoint[i].x - homeTeamColorPoint[nearestTeamPoint].x);
angle = (int)(atan2(dsy,dsx)*180/M_PI)+45;
locx = (thirdColorPoint[i].x + homeTeamColorPoint[nearestTeamPoint].x)/2;
locy = (thirdColorPoint[i].y + homeTeamColorPoint[nearestTeamPoint].y)/2;
cout << "Team " << x << " location : "
<< locx << ","
<< locy << ","
<< (angle>=0?angle:(angle+360)) << endl;
//cout << x << " : " << dsy << " " << dsx << " : " << a << endl;
//cout << "\t" << atan2(-45.0,-45.0)*180/M_PI+360 << endl;
//cout << "\t" << homeTeamColorPoint[nearestTeamPoint].x << ","
// << homeTeamColorPoint[nearestTeamPoint].y << " vs "
// << secondColorPoint[i].x << ","
// << secondColorPoint[i].y << endl;
rectangle(MatImage,
cv::Point(locx-5, locy-5),
cv::Point(locx+5, locy+5),
cv::Scalar(255,255,0,0));
sprintf_s( text, "%d", x);
putText(MatImage, text , cv::Point(locx, locy), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(255,255,255));
}
}
