template <bool IsDrop> void MovePicker::scoreNonCapturesMinusPro() {
for (MoveStack* curr = currMove(); curr != lastMove(); ++curr) {
const Move move = curr->move;
curr->score =
history().value(IsDrop,
colorAndPieceTypeToPiece(pos().turn(),
(IsDrop ? move.pieceTypeDropped() : move.pieceTypeFrom())),
move.to());
}
}
bool ChessPiece::isOpponentPieceEnPassant(const int boardPos) const
{
Q_ASSERT(!m_parentPlayer.isNull());
auto opponentPlayer(m_parentPlayer.toStrongRef()->opponentPlayer());
Q_ASSERT(!opponentPlayer.isNull());
if (opponentPlayer->lastMove())
{
auto oppMove = opponentPlayer->lastMove();
if (oppMove->moveStates() & ChessTypes::MoveEnPassant &&
oppMove->newPos().col() == ChessPos::col(boardPos))
{
const int boardMiddlePos = (oppMove->oldPos() + oppMove->newPos()) / 2;
if (boardMiddlePos == boardPos &&
opponentPlayer->chessPieceAt(oppMove->newPos()))
return true;
}
}
return false;
}
void MovePicker::scoreEvasions() {
for (MoveStack* curr = currMove(); curr != lastMove(); ++curr) {
const Move move = curr->move;
const Score seeScore = pos().seeSign(move);
if (seeScore < 0) {
curr->score = seeScore - History::MaxScore;
}
else if (move.isCaptureOrPromotion()) {
curr->score = pos().capturePieceScore(pos().piece(move.to())) + History::MaxScore;
if (move.isPromotion()) {
const PieceType pt = pieceToPieceType(pos().piece(move.from()));
curr->score += pos().promotePieceScore(pt);
}
}
else {
curr->score = history().value(move.isDrop(), colorAndPieceTypeToPiece(pos().turn(), move.pieceTypeFromOrDropped()), move.to());
}
}
}
int main()
{
int i;
DracView dv;
//NEW SET
printf("Test for basic functions, just before Dracula's first move\n");
PlayerMessage messages1[] = {"Hello","Rubbish","Stuff",""};
dv = newDracView("GST.... SAO.... HZU.... MBB....", messages1);
assert(giveMeTheRound(dv) == 0);
assert(whereIs(dv,PLAYER_LORD_GODALMING) == STRASBOURG);
assert(whereIs(dv,PLAYER_DR_SEWARD) == ATLANTIC_OCEAN);
assert(whereIs(dv,PLAYER_VAN_HELSING) == ZURICH);
assert(whereIs(dv,PLAYER_MINA_HARKER) == BAY_OF_BISCAY);
assert(whereIs(dv,PLAYER_DRACULA) == UNKNOWN_LOCATION);
assert(howHealthyIs(dv,PLAYER_DRACULA) == GAME_START_BLOOD_POINTS);
printf("passed\n");
disposeDracView(dv);
//NEW SET
printf("Test for encountering Dracula and hunter history\n");
PlayerMessage messages2[] = {"Hello","Rubbish","Stuff","","Mwahahah","Aha!","","",""};
dv = newDracView("GST.... SAO.... HCD.... MAO.... DGE.... "
"GGED... SAO.... HCD.... MAO....", messages2);
assert(giveMeTheRound(dv) == 1);
assert(whereIs(dv,PLAYER_DRACULA) == GENEVA);
assert(howHealthyIs(dv,PLAYER_LORD_GODALMING) == 5);
assert(howHealthyIs(dv,PLAYER_DRACULA) == 30);
assert(whereIs(dv,PLAYER_LORD_GODALMING) == GENEVA);
LocationID history[TRAIL_SIZE];
giveMeTheTrail(dv,PLAYER_DRACULA,history);
assert(history[0] == GENEVA);
assert(history[2] == UNKNOWN_LOCATION);
giveMeTheTrail(dv,PLAYER_LORD_GODALMING,history);
assert(history[0] == GENEVA);
assert(history[1] == STRASBOURG);
assert(history[2] == UNKNOWN_LOCATION);
giveMeTheTrail(dv,PLAYER_DR_SEWARD,history);
assert(history[0] == ATLANTIC_OCEAN);
assert(history[1] == ATLANTIC_OCEAN);
assert(history[2] == UNKNOWN_LOCATION);
printf("passed\n");
disposeDracView(dv);
//NEW SET
printf("Test for Dracula leaving minions\n");
PlayerMessage messages3[] = {"Hello","Rubbish","Stuff","","Mwahahah","Aha!","","","","Drop a V","Party in Strasbourg","Party","Party","Party"};
dv = newDracView("GGE.... SGE.... HGE.... MGE.... DED.V.. "
"GST.... SST.... HST.... MST.... DMNT... "
"GST.... SST.... HST.... MST....", messages3);
int nT, nV;
whatsThere(dv,EDINBURGH,&nT,&nV);
assert(nT == 0 && nV == 1);
whatsThere(dv,MANCHESTER,&nT,&nV);
assert(nT == 1 && nV == 0);
assert(whereIs(dv,PLAYER_DRACULA) == MANCHESTER);
giveMeTheTrail(dv,PLAYER_DRACULA,history);
assert(history[0] == MANCHESTER);
assert(history[1] == EDINBURGH);
assert(history[2] == UNKNOWN_LOCATION);
giveMeTheTrail(dv,PLAYER_MINA_HARKER,history);
assert(history[0] == STRASBOURG);
assert(history[1] == STRASBOURG);
assert(history[2] == GENEVA);
assert(history[3] == UNKNOWN_LOCATION);
printf("passed\n");
disposeDracView(dv);
//NEW SET
printf("Test for connections\n");
int size, seen[NUM_MAP_LOCATIONS], *edges;
printf("Checking Galatz road connections\n");
PlayerMessage messages5[] = {"Gone to Galatz"};
dv = newDracView("GGA....", messages5);
edges = whereCanTheyGo(dv,&size,PLAYER_LORD_GODALMING,1,0,0);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i< size ; i++) seen[edges[i]] = 1;
assert(size == 5); assert(seen[GALATZ]); assert(seen[CONSTANTA]);
assert(seen[BUCHAREST]); assert(seen[KLAUSENBURG]); assert(seen[CASTLE_DRACULA]);
free(edges);
disposeDracView(dv);
printf("Checking Ionian Sea sea connections\n");
PlayerMessage messages6[] = {"Sailing the Ionian"};
dv = newDracView("GIO....", messages6);
edges = whereCanTheyGo(dv,&size,PLAYER_LORD_GODALMING,0,0,1);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i < size; i++) seen[edges[i]] = 1;
assert(size == 7); assert(seen[IONIAN_SEA]); assert(seen[BLACK_SEA]);
assert(seen[ADRIATIC_SEA]); assert(seen[TYRRHENIAN_SEA]);
assert(seen[ATHENS]); assert(seen[VALONA]); assert(seen[SALONICA]);
free(edges);
disposeDracView(dv);
printf("Checking Athens rail connections (none)\n");
PlayerMessage messages7[] = {"Leaving Athens by train"};
dv = newDracView("GAT....", messages7);
edges = whereCanTheyGo(dv,&size,PLAYER_LORD_GODALMING,0,1,0);
assert(size == 1);
assert(edges[0] == ATHENS);
free(edges);
disposeDracView(dv);
printf("passed\n");
//NEW SET
printf("test for mature vampire (drac view)\n");
PlayerMessage messages8[] = {"im sorry i'm lazy", "copy paste is a great thing"};
dv= newDracView("GST.... SAO.... HCD.... MBO.... DLET... " //0
"GST.... SAO.... HCD.... MNA.... DPAT... " //1
"GST.... SAO.... HCD.... MCF.... DSTT... " //2
"GSTT... SAO.... HCD.... MGE.... DZUT... " //3 -2 LG
"GST.... SAO.... HCD.... MZUTD.. DCDT... " //4 trap at castle dracula??? -10hp drac, -6hp mina harker, +2LG, + 10hp drac
"GST.... SAO.... HCDTD.. MZU.... DGAT... " //5 + 3hp mina harker -6hp van helsing, -10 hp drac
"GST.... SAO.... HGATD.. MZU.... DCNT.M. " //6 -6hp vh (van helsing dies), -10hp drac, +3 mina marker
"GST.... SAO.... HSZ.... MMU.... DBS..M. " //7 -2hp dracula, helsing been in hospital
"GST.... SAO.... HKL.... MZA.... DCDT.M. " //8 +10hp drac
"GST.... SAO.... HKL.... MZA.... DCDT.M. " //9 +10hp drac
"GST.... SAO.... HCDTTD. MZA.... DCDT.M. " //10 -8hp vn, drac is constant
"GST.... SAO.... HGA.... MZA.... DKLT.M. " //11 +3hp vh
"GST.... SAO.... HGA.... MZA.... DBE.VM. " //12 +3hp vh
"GST.... SAO.... HGA.... MZA.... DSOT... " //13 +2hp vh
"GST.... SAO.... HCDTTT. MZA.... DSJT.M. " //14 -6hp vh
"GST.... SAO.... HCD.... MZA.... DVET.M. " //15 +3hp vh
"GST.... SAO.... HCD.... MZA.... DZAT.M. " //16 +3hp vh
"GMU.... SAO.... HCD.... MZA.... DVIT.M. " //17
"GVITD.. SAO.... HCD.... MZA.... DPRT... " //18 -6LG, -10 drac
"GVI.... SAO.... HCD.... MZA.... DCDT.V.", messages8); //19 +3 LG
//basically copied from testGameView...
//making sure the basics of drac view works
assert(giveMeTheRound(dv)==20);
assert(giveMeTheScore(dv)==GAME_START_SCORE -20 -6 -13);
assert(howHealthyIs(dv, PLAYER_LORD_GODALMING)==GAME_START_HUNTER_LIFE_POINTS-3);
assert(howHealthyIs(dv, PLAYER_DR_SEWARD)==GAME_START_HUNTER_LIFE_POINTS);
assert(howHealthyIs(dv, PLAYER_VAN_HELSING)==GAME_START_HUNTER_LIFE_POINTS);
assert(howHealthyIs(dv, PLAYER_MINA_HARKER)==GAME_START_HUNTER_LIFE_POINTS);
assert(whereIs(dv, PLAYER_LORD_GODALMING)==VIENNA);
assert(whereIs(dv, PLAYER_DR_SEWARD)==ATLANTIC_OCEAN);
assert(whereIs(dv, PLAYER_VAN_HELSING)==CASTLE_DRACULA);
assert(whereIs(dv, PLAYER_MINA_HARKER)==ZAGREB);
giveMeTheTrail(dv,PLAYER_DRACULA,history);
assert(history[0] == CASTLE_DRACULA);
assert(history[1] == PRAGUE);
assert(history[2] == VIENNA);
assert(history[3] == ZAGREB);
assert(history[4] == VENICE);
assert(history[5] == SARAJEVO);
giveMeTheTrail(dv,PLAYER_LORD_GODALMING,history);
assert(history[0] == VIENNA);
assert(history[1] == VIENNA);
assert(history[2] == MUNICH);
assert(history[3] == STRASBOURG);
giveMeTheTrail(dv,PLAYER_DR_SEWARD,history);
assert(history[0] == ATLANTIC_OCEAN);
assert(history[1] == ATLANTIC_OCEAN);
assert(history[2] == ATLANTIC_OCEAN);
assert(history[3] == ATLANTIC_OCEAN);
assert(history[4] == ATLANTIC_OCEAN);
assert(history[5] == ATLANTIC_OCEAN);
//start and end are the same for all
int start, end;
lastMove(dv, PLAYER_LORD_GODALMING, &start, &end);
assert(start==VIENNA && end==VIENNA);
lastMove(dv, PLAYER_DR_SEWARD, &start, &end);
assert(start==ATLANTIC_OCEAN && end==ATLANTIC_OCEAN);
lastMove(dv, PLAYER_VAN_HELSING, &start, &end);
assert(start==CASTLE_DRACULA && end==CASTLE_DRACULA);
lastMove(dv, PLAYER_MINA_HARKER, &start, &end);
assert(start==ZAGREB && end==ZAGREB);
disposeDracView(dv);
printf("passed\n");
//NEW SET
printf("test more many traps\n");
PlayerMessage messages9[] = {"hey look!, something new..."};
dv= newDracView("GST.... SAO.... HCD.... MBO.... DLET... "
"GCO.... SIR.... HGA.... MNA.... DD1T...",messages9 );
int nnT, nnV;
whatsThere(dv,LE_HAVRE,&nnT,&nnV);
assert(nnT == 2 && nnV == 0);
assert(giveMeTheRound(dv)==2);
assert(giveMeTheScore(dv)==GAME_START_SCORE -2);
lastMove(dv, PLAYER_LORD_GODALMING, &start, &end);
assert(start==STRASBOURG && end==COLOGNE);
lastMove(dv, PLAYER_DR_SEWARD, &start, &end);
assert(start==ATLANTIC_OCEAN && end==IRISH_SEA);
lastMove(dv, PLAYER_VAN_HELSING, &start, &end);
assert(start==CASTLE_DRACULA && end==GALATZ);
lastMove(dv, PLAYER_MINA_HARKER, &start, &end);
assert(start==BORDEAUX && end==NANTES);
//more basics
giveMeTheTrail(dv,PLAYER_LORD_GODALMING,history);
assert(history[0] == COLOGNE);
assert(history[1] == STRASBOURG);
assert(history[2] == UNKNOWN_LOCATION);
giveMeTheTrail(dv,PLAYER_DR_SEWARD,history);
assert(history[0] == IRISH_SEA);
assert(history[1] == ATLANTIC_OCEAN);
assert(history[2] == UNKNOWN_LOCATION);
giveMeTheTrail(dv,PLAYER_VAN_HELSING,history);
assert(history[0] == GALATZ);
assert(history[1] == CASTLE_DRACULA);
assert(history[2] == UNKNOWN_LOCATION);
giveMeTheTrail(dv,PLAYER_MINA_HARKER,history);
assert(history[0] == NANTES);
assert(history[1] == BORDEAUX);
assert(history[2] == UNKNOWN_LOCATION);
assert(history[3] == UNKNOWN_LOCATION);
assert(history[4] == UNKNOWN_LOCATION);
assert(history[5] == UNKNOWN_LOCATION);
disposeDracView(dv);
printf("passed\n");
//NEW SET
printf("test for dracula paths (where can i go)\n");
//int size, seen[NUM_MAP_LOCATIONS], *edges; -->declared at top
PlayerMessage messages10[] = {"going from le havre"};
dv= newDracView("GST.... SAO.... HCD.... MBO.... DLET...", messages10);
printf("Checking Le Havre Road connections\n");
edges = whereCanIgo(dv, &size, 1,0);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i< size ; i++) seen[edges[i]] = 1;
assert(size==4);
assert(seen[LE_HAVRE]); assert(seen[NANTES]); assert(seen[PARIS]);
assert(seen[BRUSSELS]);
free(edges);
printf("Checking Le Havre boat connections\n");
edges = whereCanIgo(dv, &size, 0,1);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i< size ; i++) seen[edges[i]] = 1;
assert(size==2); //only one boat
assert(seen[LE_HAVRE]); assert(seen[ENGLISH_CHANNEL]);
free(edges);
disposeDracView(dv);
PlayerMessage messages11[] = {"going from bucharest"};
dv= newDracView("GST.... SAO.... HCD.... MBO.... DBCT...", messages11);
printf("Checking bucharest road connections\n");
edges = whereCanIgo(dv, &size, 1,0);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i< size ; i++) seen[edges[i]] = 1;
assert(size==6);
assert(seen[BUCHAREST]); assert(seen[BELGRADE]); assert(seen[CONSTANTA]);
assert(seen[GALATZ]); assert(seen[KLAUSENBURG]); assert(seen[SOFIA]);
free(edges);
disposeDracView(dv);
PlayerMessage messages12[] = {"going from galway"};
dv= newDracView("GST.... SAO.... HCD.... MBO.... DGWT...", messages12);
printf("Checking galway road AND boat connections\n");
edges = whereCanIgo(dv, &size, 1,1);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i< size ; i++) seen[edges[i]] = 1;
assert(size==3);
assert(seen[GALWAY]); assert(seen[DUBLIN]); assert(seen[ATLANTIC_OCEAN]);
free(edges);
disposeDracView(dv);
PlayerMessage messages13[] = {"going from cologne"};
dv= newDracView("GST.... SAO.... HCD.... MBO.... DCOT...", messages13);
printf("Checking cologne boat connections (none)\n");
edges = whereCanIgo(dv, &size, 0,1);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i< size ; i++) seen[edges[i]] = 1;
assert(size==1); assert(seen[COLOGNE]);
free(edges);
disposeDracView(dv);
printf("passed\n");
//NEW SET
printf("test for double back in train when seeing where dracula goes \n");
PlayerMessage messages14[] = {"going from cologne","to cologne lol"};
dv= newDracView("GST.... SAO.... HCD.... MBO.... DCOT... "
"GST.... SAO.... HCD.... MBO.... DD1T...", messages14);
edges = whereCanIgo(dv, &size, 0,1);
//cannot have another double back so cannot stay in cologne via boat
assert(size==1); //cant hide at sea
free(edges);
edges = whereCanIgo(dv, &size, 1,0);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i< size ; i++) seen[edges[i]] = 1;
assert(size==7);
assert(seen[COLOGNE]); //can hide in city again
assert(seen[AMSTERDAM]); assert(seen[BRUSSELS]); assert(seen[FRANKFURT]);
assert(seen[HAMBURG]); assert(seen[LEIPZIG]); assert(seen[STRASBOURG]);
free(edges);
disposeDracView(dv);
printf("passed\n");
//NEW SET
printf("check for hide AND double back\n");
dv= newDracView("GST.... SAO.... HCD.... MBO.... DCOT... "
"GST.... SAO.... HCD.... MBO.... DD1T... "
"GST.... SAO.... HCD.... MBO.... DHI....", messages14);
edges = whereCanIgo(dv, &size, 0,1);
//cannot have another double back so cannot stay in cologne via boat
assert(size==0); //cant hide at sea
free(edges);
edges = whereCanIgo(dv, &size, 1,0);
memset(seen, 0, NUM_MAP_LOCATIONS*sizeof(int));
for (i = 0; i< size ; i++) seen[edges[i]] = 1;
assert(size==6);
assert(seen[AMSTERDAM]); assert(seen[BRUSSELS]); assert(seen[FRANKFURT]);
assert(seen[HAMBURG]); assert(seen[LEIPZIG]); assert(seen[STRASBOURG]);
free(edges);
disposeDracView(dv);
printf("passed\n");
return 0;
}
int main(int argc, char **argv)
{
int res;
try {
socket.bind ("tcp://*:14444");
s_sendmore (socket, "event");
s_send (socket, "{type:\"up\"}");
}
catch (zmq::error_t e) {
cerr << "Cannot bind to socket: " <<e.what() << endl;
return -1;
}
// printf("Kinect camera test\n");
//
// int i;
// for (i=0; i<2048; i++) {
// float v = i/2048.0;
// v = powf(v, 3)* 6;
// t_gamma[i] = v*6*256;
// }
//
// g_argc = argc;
// g_argv = argv;
//
// //setup Freenect...
// if (freenect_init(&f_ctx, NULL) < 0) {
// printf("freenect_init() failed\n");
// return 1;
// }
//
// freenect_set_log_level(f_ctx, FREENECT_LOG_ERROR);
//
// int nr_devices = freenect_num_devices (f_ctx);
// printf ("Number of devices found: %d\n", nr_devices);
//
// int user_device_number = 0;
// if (argc > 1)
// user_device_number = atoi(argv[1]);
//
// if (nr_devices < 1)
// return 1;
//
// if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
// printf("Could not open device\n");
// return 1;
// }
//
// freenect_set_tilt_degs(f_dev,freenect_angle);
// freenect_set_led(f_dev,LED_RED);
// freenect_set_depth_callback(f_dev, depth_cb);
// freenect_set_video_callback(f_dev, rgb_cb);
// freenect_set_video_format(f_dev, FREENECT_VIDEO_RGB);
// freenect_set_depth_format(f_dev, FREENECT_DEPTH_11BIT);
//
// freenect_start_depth(f_dev);
// freenect_start_video(f_dev);
initFreenect();
//start the freenect thread to poll for events
res = pthread_create(&ocv_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
Mat depthf;
Mat frameMat(rgbMat);
Mat blobMaskOutput(frameMat.size(),CV_8UC1),
outC(frameMat.size(),CV_8UC3);
Mat prevImg(frameMat.size(),CV_8UC1),
nextImg(frameMat.size(),CV_8UC1),
prevDepth(depthMat.size(),CV_8UC1);
vector<Point2f> prevPts,nextPts;
vector<uchar> statusv;
vector<float> errv;
Rect cursor(frameMat.cols/2,frameMat.rows/2,10,10);
bool update_bg_model = true;
int fr = 1;
int register_ctr = 0,register_secondbloc_ctr = 0;
bool registered = false;
Point2i appear(-1,-1); double appearTS = -1;
Point2i midBlob(-1,-1);
Point2i lastMove(-1,-1);
int hcr_ctr = -1;
vector<int> hc_stack(20); int hc_stack_ptr = 0;
while (!die) {
fr++;
// imshow("rgb", rgbMat);
pthread_mutex_lock(&buf_mutex);
//Linear interpolation
{
Mat _tmp = (depthMat - 400.0); //minimum observed value is ~440. so shift a bit
_tmp.setTo(Scalar(2048), depthMat > ((!registered) ? 700.0 : 750.0)); //cut off at 600 to create a "box" where the user interacts
_tmp.convertTo(depthf, CV_8UC1, 255.0/1648.0); //values are 0-2048 (11bit), account for -400 = 1648
}
{
Mat _tmp;
depthMat.convertTo(_tmp, CV_8UC1, 255.0/2048.0);
cvtColor(_tmp, outC, CV_GRAY2BGR);
}
pthread_mutex_unlock(&buf_mutex);
// { //saving the frames to files for debug
// stringstream ss; ss << "depth_"<<fr<<".png";
// imwrite(ss.str(), depthf);
// }
//Logarithm interpolation - try it!, It should be more "sensitive" for closer depths
// {
// Mat tmp,tmp1;
// depthMat.convertTo(tmp, CV_32FC1);
// log(tmp,tmp1);
// tmp1.convertTo(depthf, CV_8UC1, 255.0/7.6246189861593985);
// }
// imshow("depth",depthf);
Mat blobMaskInput = depthf < 255; //anything not white is "real" depth
vector<Point> ctr,ctr2;
Scalar blb = refineSegments(Mat(),blobMaskInput,blobMaskOutput,ctr,ctr2,midBlob); //find contours in the foreground, choose biggest
imshow("first", blobMaskOutput);
/////// blb :
//blb[0] = x, blb[1] = y, blb[2] = 1st blob size, blb[3] = 2nd blob size.
// uint mode_counters[3] = {0};
if(blb[0]>=0 && blb[2] > 500) { //1st blob detected, and is big enough
//cvtColor(depthf, outC, CV_GRAY2BGR);
//closest point to the camera
Point minLoc; double minval,maxval;
minMaxLoc(depthf, &minval, &maxval, &minLoc, NULL, blobMaskInput);
circle(outC, minLoc, 5, Scalar(0,255,0), 3);
Scalar mn,stdv;
meanStdDev(depthf,mn,stdv,blobMaskInput);
//cout << "min: " << minval << ", max: " << maxval << ", mean: " << mn[0] << endl;
blobMaskInput = depthf < (mn[0] + stdv[0]*.5);
blb = refineSegments(Mat(),blobMaskInput,blobMaskOutput,ctr,ctr2,midBlob);
imshow("second", blobMaskOutput);
if(blb[0] >= 0 && blb[2] > 300) {
//draw contour
Scalar color(0,0,255);
for (int idx=0; idx<ctr.size()-1; idx++)
line(outC, ctr[idx], ctr[idx+1], color, 1);
line(outC, ctr[ctr.size()-1], ctr[0], color, 1);
if(ctr2.size() > 0) {
Scalar color2(255,0,255);
for (int idx=0; idx<ctr2.size()-1; idx++)
line(outC, ctr2[idx], ctr2[idx+1], color2, 2);
line(outC, ctr2[ctr2.size()-1], ctr2[0], color2, 2);
}
//draw "major axis"
// Vec4f _line;
Mat curve(ctr);
// fitLine(curve, _line, CV_DIST_L2, 0, 0.01, 0.01);
// line(outC, Point(blb[0]-_line[0]*70,blb[1]-_line[1]*70),
// Point(blb[0]+_line[0]*70,blb[1]+_line[1]*70),
// Scalar(255,255,0), 1);
//blob center
circle(outC, Point(blb[0],blb[1]), 50, Scalar(255,0,0), 3);
// cout << "min depth " << minval << endl;
register_ctr = MIN((register_ctr + 1),60);
if(blb[3] > 5000)
register_secondbloc_ctr = MIN((register_secondbloc_ctr + 1),60);
if (register_ctr > 30 && !registered) {
registered = true;
appear.x = -1;
update_bg_model = false;
lastMove.x = blb[0]; lastMove.y = blb[1];
cout << "blob size " << blb[2] << endl;
if(register_secondbloc_ctr < 30) {
if(blb[2] > 10000) {
cout << "register panner" << endl;
send_event("Register", "\"mode\":\"openhand\"");
} else {
cout << "register pointer" << endl;
send_event("Register", "\"mode\":\"theforce\"");
}
} else {
cout << "register tab swithcer" << endl;
send_event("Register", "\"mode\":\"twohands\"");
}
}
if(registered) {
stringstream ss;
ss << "\"x\":" << (int)floor(blb[0]*100.0/640.0)
<< ",\"y\":" << (int)floor(blb[1]*100.0/480.0)
<< ",\"z\":" << (int)(mn[0] * 2.0);
//cout << "move: " << ss.str() << endl;
send_event("Move", ss.str());
//---------------------- fist detection ---------------------
//calc laplacian of curve
vector<Point> approxCurve; //approximate curve
approxPolyDP(curve, approxCurve, 10.0, true);
Mat approxCurveM(approxCurve);
Mat curve_lap;
calc_laplacian(approxCurveM, curve_lap); //calc laplacian
hcr_ctr = 0;
for (int i=0; i<approxCurve.size(); i++) {
double n = norm(((Point2d*)(curve_lap.data))[i]);
if (n > 10.0) {
//high curvature point
circle(outC, approxCurve[i], 3, Scalar(50,155,255), 2);
hcr_ctr++;
}
}
hc_stack.at(hc_stack_ptr) = hcr_ctr;
hc_stack_ptr = (hc_stack_ptr + 1) % hc_stack.size();
Scalar _avg = mean(Mat(hc_stack));
if (abs(_avg[0] - (double)hcr_ctr) > 5.0) { //a big change in curvature = hand fisted/opened?
cout << "Hand click!" << endl;
send_event("HandClick", "");
}
if (mode_state == MODE_NONE) {
}
// imshow("out",out);
//doHist(depthf,out);
{ //some debug on screen..
stringstream ss; ss << "high curve pts " << hcr_ctr << ", avg " << _avg[0];
putText(outC, ss.str(), Point(50,50), CV_FONT_HERSHEY_PLAIN, 2.0,Scalar(0,0,255), 2);
}
} else {
//not registered, look for gestures
if(appear.x<0) {
//first appearence of blob
appear = midBlob;
// update_bg_model = false;
appearTS = getTickCount();
cout << "appear ("<<appearTS<<") " << appear.x << "," << appear.y << endl;
} else {
//blob was seen before, how much time passed
double timediff = ((double)getTickCount()-appearTS)/getTickFrequency();
if (timediff > .2 && timediff < 1.0) {
//enough time passed from appearence
line(outC, appear, Point(blb[0],blb[1]), Scalar(0,0,255), 3);
if (appear.x - blb[0] > 100) {
cout << "right"<<endl; appear.x = -1;
send_event("SwipeRight", "");
update_bg_model = true;
register_ctr = 0;
} else if (appear.x - blb[0] < -100) {
cout << "left" <<endl; appear.x = -1;
send_event("SwipeLeft", "");
update_bg_model = true;
register_ctr = 0;
} else if (appear.y - blb[1] > 100) {
cout << "up" << endl; appear.x = -1;
send_event("SwipeUp", "");
update_bg_model = true;
register_ctr = 0;
} else if (appear.y - blb[1] < -100) {
cout << "down" << endl; appear.x = -1;
send_event("SwipeDown", "");
update_bg_model = true;
register_ctr = 0;
}
}
if(timediff >= 1.0) {
cout << "a ghost..."<<endl;
update_bg_model = true;
//a second passed from appearence - reset 1st appear
appear.x = -1;
appearTS = -1;
midBlob.x = midBlob.y = -1;
}
}
}
send_image(outC);
}
} else {
send_image(depthf);
register_ctr = MAX((register_ctr - 1),0);
register_secondbloc_ctr = MAX((register_secondbloc_ctr - 1),0);
}
imshow("blob",outC);
if (register_ctr <= 15 && registered) {
midBlob.x = midBlob.y = -1;
registered = false;
mode_state = MODE_NONE;
update_bg_model = true;
cout << "unregister" << endl;
send_event("Unregister", "");
}
char k = cvWaitKey(5);
if( k == 27 ) break;
if( k == ' ' )
update_bg_model = !update_bg_model;
if (k=='s') {
cout << "send test event" << endl;
send_event("TestEvent", "");
}
}
printf("-- done!\n");
pthread_join(ocv_thread, NULL);
pthread_exit(NULL);
return 0;
}
template <> Move MovePicker::nextMove<false>() {
MoveStack* ms;
Move move;
do {
// lastMove() に達したら次の phase に移る。
while (currMove() == lastMove()) {
goNextPhase();
}
switch (phase()) {
case MainSearch: case EvasionSearch: case QSearch: case QEvasionSearch: case ProbCut:
++currMove_;
return ttMove_;
case PH_TacticalMoves0:
ms = pickBest(currMove_++, lastMove());
if (ms->move != ttMove_) {
assert(captureThreshold_ <= 0);
if (captureThreshold_ <= pos().see(ms->move)) {
return ms->move;
}
// 後ろから SEE の点数が高い順に並ぶようにする。
(endBadCaptures_--)->move = ms->move;
}
break;
case PH_Killers:
move = (currMove_++)->move;
if (!move.isNone()
&& move != ttMove_
&& pos().moveIsPseudoLegal(move, true)
&& pos().piece(move.to()) == Empty)
{
return move;
}
break;
case PH_NonTacticalMoves0:
case PH_NonTacticalMoves1:
move = (currMove_++)->move;
if (move != ttMove_
&& move != killerMoves_[0].move
&& move != killerMoves_[1].move
)
{
return move;
}
break;
case PH_BadCaptures:
return (currMove_--)->move;
case PH_Evasions: case PH_QEvasions: case PH_QCaptures0:
move = pickBest(currMove_++, lastMove())->move;
if (move != ttMove_) {
return move;
}
break;
case PH_TacticalMoves1:
ms = pickBest(currMove_++, lastMove());
// todo: see が確実に駒打ちじゃないから、内部で駒打ちか判定してるのは少し無駄。
if (ms->move != ttMove_ && captureThreshold_ < pos().see(ms->move)) {
return ms->move;
}
break;
case PH_QCaptures1:
move = pickBest(currMove_++, lastMove())->move;
assert(move.to() == recaptureSquare_);
return move;
case PH_Stop:
return Move::moveNone();
default:
UNREACHABLE;
}
} while (true);
}
void MovePicker::goNextPhase() {
currMove_ = firstMove(); // legalMoves_[0] は番兵
++phase_;
switch (phase()) {
case PH_TacticalMoves0: case PH_TacticalMoves1:
lastMove_ = generateMoves<CapturePlusPro>(currMove(), pos());
scoreCaptures();
return;
case PH_Killers:
currMove_ = killerMoves_;
lastMove_ = currMove() + 2;
return;
case PH_NonTacticalMoves0:
lastMove_ = generateMoves<NonCaptureMinusPro>(currMove(), pos());
scoreNonCapturesMinusPro<false>();
currMove_ = lastMove();
lastNonCapture_ = lastMove_ = generateMoves<Drop>(currMove(), pos());
scoreNonCapturesMinusPro<true>();
currMove_ = firstMove();
lastMove_ = std::partition(currMove(), lastNonCapture(), HasPositiveScore());
// 要素数は10個くらいまでであることが多い。要素数が少ないので、insertionSort() を使用する。
insertionSort<MoveStack*, true>(currMove(), lastMove());
return;
case PH_NonTacticalMoves1:
currMove_ = lastMove();
lastMove_ = lastNonCapture();
if (static_cast<Depth>(3 * OnePly) <= depth_) {
std::sort(currMove(), lastMove(), std::greater<MoveStack>());
}
return;
case PH_BadCaptures:
currMove_ = legalMoves_ + MaxLegalMoves - 1;
lastMove_ = endBadCaptures_;
return;
case PH_Evasions:
case PH_QEvasions:
lastMove_ = generateMoves<Evasion>(currMove(), pos());
if (currMove() + 1 < lastMove()) {
scoreEvasions();
}
return;
case PH_QCaptures0:
lastMove_ = generateMoves<CapturePlusPro>(firstMove(), pos());
scoreCaptures();
return;
case PH_QCaptures1:
lastMove_ = generateMoves<Recapture>(firstMove(), pos(), recaptureSquare_);
scoreCaptures();
return;
case EvasionSearch: case QSearch: case QEvasionSearch: case QRecapture: case ProbCut:
// これが無いと、MainSearch の後に EvasionSearch が始まったりしてしまう。
phase_ = PH_Stop;
case PH_Stop:
lastMove_ = currMove() + 1;
return;
default: UNREACHABLE;
}
}
void MovePicker::scoreCaptures() {
for (MoveStack* curr = currMove(); curr != lastMove(); ++curr) {
const Move move = curr->move;
curr->score = Position::pieceScore(pos().piece(move.to())) - LVA(move.pieceTypeFrom());
}
}
