void AISystem::initTanksInScene(std::vector<Vec2> _positions)
{
for (auto pos : _positions)
{
addRobot(pos);
}
}
bool ClientTest::init()
{
ServerFrame::init();
Client::initPBModule();
JsonHelper help("conf/robot.json");
if (!help.loadJson())
{
return false;
}
const Json::Value& Root = help.root();
LAZY_JSON_GET_UINT(m_maxCount, "max_count", Root);
LAZY_JSON_GET_UINT(m_onceCount , "once_count", Root);
LAZY_JSON_GET_UINT(m_accountBegin , "account_start", Root);
LAZY_JSON_GET_UINT(m_info._port , "port", Root);
LAZY_JSON_GET_UINT(m_onceTime , "once_time", Root);
LAZY_JSON_GET_STRING(m_info._ip, "ip", Root);
if (m_onceTime < 10)
{ m_onceTime = 100;}
addRobot();
gEventMgr.addEvent(this, &ClientTest::reConnetClient, EVENT_ADD_TEST_ACCOUNT, m_onceTime, 0, 0);
//gEventMgr.addEvent(this, &ClientTest::reConnetClient, EVENT_RECONN_TEST_ACCOUNT, m_onceTime, 0, 0);
return true;
}
int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QMainWindow::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: openDocument(); break;
case 1: saveDocument(); break;
case 2: closeDocument(); break;
case 3: newDocument(); break;
case 4: addShape(); break;
case 5: removeShape(); break;
case 6: setShapeColor(); break;
case 7: addSnowman(); break;
case 8: addRobot(); break;
case 9: about(); break;
case 10: aboutQt(); break;
case 11: updateActions(); break;
default: ;
}
_id -= 12;
}
return _id;
}
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent)
{
setupUi(this);
QWidget *w = documentTabs->widget(0);
documentTabs->removeTab(0);
delete w;
connect(actionOpen, SIGNAL(triggered()), this, SLOT(openDocument()));
connect(actionClose, SIGNAL(triggered()), this, SLOT(closeDocument()));
connect(actionNew, SIGNAL(triggered()), this, SLOT(newDocument()));
connect(actionSave, SIGNAL(triggered()), this, SLOT(saveDocument()));
connect(actionExit, SIGNAL(triggered()), this, SLOT(close()));
connect(actionRed, SIGNAL(triggered()), this, SLOT(setShapeColor()));
connect(actionGreen, SIGNAL(triggered()), this, SLOT(setShapeColor()));
connect(actionBlue, SIGNAL(triggered()), this, SLOT(setShapeColor()));
connect(actionAddCircle, SIGNAL(triggered()), this, SLOT(addShape()));
connect(actionAddRectangle, SIGNAL(triggered()), this, SLOT(addShape()));
connect(actionAddTriangle, SIGNAL(triggered()), this, SLOT(addShape()));
connect(actionRemoveShape, SIGNAL(triggered()), this, SLOT(removeShape()));
connect(actionAddRobot, SIGNAL(triggered()), this, SLOT(addRobot()));
connect(actionAddSnowman, SIGNAL(triggered()), this, SLOT(addSnowman()));
connect(actionAbout, SIGNAL(triggered()), this, SLOT(about()));
connect(actionAboutQt, SIGNAL(triggered()), this, SLOT(aboutQt()));
connect(undoLimit, SIGNAL(valueChanged(int)), this, SLOT(updateActions()));
connect(documentTabs, SIGNAL(currentChanged(int)), this, SLOT(updateActions()));
actionOpen->setShortcut(QString("Ctrl+O"));
actionClose->setShortcut(QString("Ctrl+W"));
actionNew->setShortcut(QString("Ctrl+N"));
actionSave->setShortcut(QString("Ctrl+S"));
actionExit->setShortcut(QString("Ctrl+Q"));
actionRemoveShape->setShortcut(QString("Del"));
actionRed->setShortcut(QString("Alt+R"));
actionGreen->setShortcut(QString("Alt+G"));
actionBlue->setShortcut(QString("Alt+B"));
actionAddCircle->setShortcut(QString("Alt+C"));
actionAddRectangle->setShortcut(QString("Alt+L"));
actionAddTriangle->setShortcut(QString("Alt+T"));
m_undoGroup = new QUndoGroup(this);
undoView->setGroup(m_undoGroup);
undoView->setCleanIcon(QIcon(":/icons/ok.png"));
QAction *undoAction = m_undoGroup->createUndoAction(this);
QAction *redoAction = m_undoGroup->createRedoAction(this);
undoAction->setIcon(QIcon(":/icons/undo.png"));
redoAction->setIcon(QIcon(":/icons/redo.png"));
menuShape->insertAction(menuShape->actions().at(0), undoAction);
menuShape->insertAction(undoAction, redoAction);
toolBar->addAction(undoAction);
toolBar->addAction(redoAction);
newDocument();
updateActions();
};
void Physics::registBodies(){
addFloor();
addBall(2.5,btVector3(SIZE_WIDTH/1.5,0,SIZE_DEPTH/1.5),0.08);
btVector3 posTeam1[] = {btVector3(15,4,SIZE_DEPTH- 55),btVector3(35,4,30),btVector3(55,4,45)};
btVector3 posTeam2[] = {btVector3(SIZE_WIDTH-15,4,55),btVector3(SIZE_WIDTH-25,4,SIZE_DEPTH - SIZE_DEPTH/2.5 + 20),btVector3(SIZE_WIDTH-55,4,85)};
//Create robots here
//Team 1
for(int i = 0;i < numRobotsTeam;i++){
if(numTeams >= 1){
addRobot(Color(0.3,0.3,0.3),posTeam1[i],btVector3(0,90,0),8,0.25,clrPlayers[i],clrTeams[0]);
}
}
for(int i = 0;i < numRobotsTeam;i++){
if(numTeams == 2){
addRobot(Color(0.3,0.3,0.3),posTeam2[i],btVector3(0,-100,0),8,0.25,clrPlayers[i],clrTeams[1]);
}
}
addWall(Color(0,0,0),btVector3(SIZE_WIDTH/2+1,7.5,-2.5),SIZE_WIDTH,15,5,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH/2+1,7.5,SIZE_DEPTH+2.5),SIZE_WIDTH,15,5,0);
addWall(Color(0,0,0),btVector3(-1.6,7.5,SIZE_DEPTH/6),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(-1.6,7.5,SIZE_DEPTH-SIZE_DEPTH/6),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(-12.5,7.5, SIZE_DEPTH/2),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(-7,7.5,SIZE_DEPTH/3),15,15,5,0);
addWall(Color(0,0,0),btVector3(-7,7.5,2*SIZE_DEPTH/3+2.5),15,15,5,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+3.5,7.5,SIZE_DEPTH/6),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+3.5,7.5,SIZE_DEPTH-SIZE_DEPTH/6),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+13.5,7.5, SIZE_DEPTH/2),5,15,SIZE_DEPTH/3,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+8.5,7.5,SIZE_DEPTH/3),15,15,5,0);
addWall(Color(0,0,0),btVector3(SIZE_WIDTH+8.5,7.5,2*SIZE_DEPTH/3+2.5),15,15,5,0);
addCorner(Color(0,0,0),btVector3(10,7.5,10),30,15,btVector3(0,45,0));
addCorner(Color(0,0,0),btVector3(SIZE_WIDTH-9,7.5,10),30,15,btVector3(0,-45,0));
addCorner(Color(0,0,0),btVector3(SIZE_WIDTH-9,7.5,SIZE_DEPTH-10),30,15,btVector3(0,45,0));
addCorner(Color(0,0,0),btVector3(10,7.5,SIZE_DEPTH-10),30,15,btVector3(0,-45,0));
}
void TeamDetector::findRobotsByModel(::google::protobuf::RepeatedPtrField< ::SSL_DetectionRobot >* robots, int team_color_id, const Image<raw8> * image, CMVision::ColorRegionList * colorlist, CMVision::RegionTree & reg_tree)
{
(void)image;
const int MaxDetections = _other_markers_max_detections;
Marker cen; // center marker
Marker markers[MaxDetections];
const float marker_max_query_dist = _other_markers_max_query_distance;
const float marker_max_dist = _pattern_max_dist;
// partially forget old detections
//decaySeen();
filter_team.init( colorlist->getRegionList(team_color_id).getInitialElement());
const CMVision::Region * reg=0;
SSL_DetectionRobot * robot=0;
MultiPatternModel::PatternDetectionResult res;
// printf("finding robots...\n");
while((reg = filter_team.getNext()) != 0) {
vector2d reg_img_center(reg->cen_x,reg->cen_y);
vector3d reg_center3d;
_camera_params.image2field(reg_center3d,reg_img_center,_robot_height);
vector2d reg_center(reg_center3d.x,reg_center3d.y);
//TODO add masking:
//if(det.mask.get(reg->cen_x,reg->cen_y) >= 0.5){
// printf("if in field:\n");
if (field_filter.isInFieldOrPlayableBoundary(reg_center)) {
cen.set(reg,reg_center3d,getRegionArea(reg,_robot_height));
int num_markers = 0;
reg_tree.startQuery(*reg,marker_max_query_dist);
double sd=0.0;
CMVision::Region *mreg;
while((mreg=reg_tree.getNextNearest(sd))!=0 && num_markers<MaxDetections) {
//TODO: implement masking:
// filter_other.check(*mreg) && det.mask.get(mreg->cen_x,mreg->cen_y)>=0.5
if(filter_others.check(*mreg) && model.usesColor(mreg->color)) {
vector2d marker_img_center(mreg->cen_x,mreg->cen_y);
vector3d marker_center3d;
_camera_params.image2field(marker_center3d,marker_img_center,_robot_height);
Marker &m = markers[num_markers];
m.set(mreg,marker_center3d,getRegionArea(mreg,_robot_height));
vector2f ofs = m.loc - cen.loc;
m.dist = ofs.length();
m.angle = ofs.angle();
if(m.dist>0.0 && m.dist<marker_max_dist) {
num_markers++;
}
}
}
reg_tree.endQuery();
// printf("num markers = %d\n", num_markers);
if(num_markers >= 2) {
CMPattern::PatternProcessing::sortMarkersByAngle(markers,num_markers);
for(int i=0; i<num_markers; i++) {
// DEBUG CODE:
// char colorchar='?';
// if (markers[i].id==color_id_green) colorchar='g';
// if (markers[i].id==color_id_pink) colorchar='p';
// if (markers[i].id==color_id_white) colorchar='w';
// if (markers[i].id==color_id_team) colorchar='t';
// if (markers[i].id==color_id_field_green) colorchar='f';
// if (markers[i].id==color_id_cyan) colorchar='c';
// printf("%c ",colorchar);
int j = (i + 1) % num_markers;
markers[i].next_dist = dist(markers[i].loc,markers[j].loc);
markers[i].next_angle_dist = angle_pos(angle_diff(markers[i].angle,markers[j].angle));
}
if (model.findPattern(res,markers,num_markers,_pattern_fit_params,_camera_params)) {
robot=addRobot(robots,res.conf,_max_robots*2);
if (robot!=0) {
//setup robot:
robot->set_x(cen.loc.x);
robot->set_y(cen.loc.y);
if (_have_angle) robot->set_orientation(res.angle);
robot->set_robot_id(res.id);
robot->set_pixel_x(reg->cen_x);
robot->set_pixel_y(reg->cen_y);
robot->set_height(cen.height);
}
}
}
}
}
//remove items with 0-confidence:
stripRobots(robots);
//remove extra items:
while(robots->size() > _max_robots) {
robots->RemoveLast();
}
}
void TeamDetector::findRobotsByTeamMarkerOnly(::google::protobuf::RepeatedPtrField< ::SSL_DetectionRobot >* robots, int team_color_id, const Image<raw8> * image, CMVision::ColorRegionList * colorlist)
{
filter_team.init( colorlist->getRegionList(team_color_id).getInitialElement() );
//TODO: change these to update on demand:
//local variables
const CMVision::Region * reg=0;
SSL_DetectionRobot * robot=0;
while((reg = filter_team.getNext()) != 0) {
vector2d reg_img_center(reg->cen_x,reg->cen_y);
vector3d reg_center3d;
_camera_params.image2field(reg_center3d,reg_img_center,_robot_height);
vector2d reg_center(reg_center3d.x,reg_center3d.y);
//TODO: add confidence masking:
//float conf = det.mask.get(reg->cen_x,reg->cen_y);
double conf=1.0;
if (field_filter.isInFieldOrPlayableBoundary(reg_center) && ((_histogram_enable==false) || checkHistogram(reg,image)==true)) {
double area = getRegionArea(reg,_robot_height);
double area_err = fabs(area - _center_marker_area_mean);
conf *= GaussianVsUniform(area_err, sq(_center_marker_area_stddev), _center_marker_uniform);
//printf("-------------\n");
if (conf < 1e-6) conf=0.0;
/*if(unlikely(verbose > 2)){
printf(" area=%0.1f err=%4.1f conf=%0.6f\n",area,area_err,conf);
}
if(det.debug) det.color(reg,rc,conf);*/
//allow twice as many robots for now...
//duplicate filtering will take care of the rest below:
robot=addRobot(robots,conf,_max_robots*2);
if (robot!=0) {
//setup robot:
robot->set_x(reg_center.x);
robot->set_y(reg_center.y);
robot->set_pixel_x(reg->cen_x);
robot->set_pixel_y(reg->cen_y);
robot->set_height(_robot_height);
}
}
}
// remove duplicates ... keep the ones with higher confidence:
int size=robots->size();
for(int i=0; i<size; i++) {
for(int j=i+1; j<size; j++) {
if(sqdist(vector2d(robots->Get(i).x(),robots->Get(i).y()),vector2d(robots->Get(j).x(),robots->Get(j).y())) < sq(_center_marker_duplicate_distance)) {
robots->Mutable(i)->set_confidence(0.0);
}
}
}
//remove items with 0-confidence:
stripRobots(robots);
//remove extra items:
while(robots->size() > _max_robots) {
robots->RemoveLast();
}
}
