void SuperGeometry2D::regionGrowing(unsigned short fromM, unsigned short toM,
int seedX, int seedY, int offsetX, int offsetY,
std::map<std::vector<int>, int>* tmp) {
std::map<std::vector<int>, int> tmp2;
bool firstCall = false;
if (tmp == NULL) {
tmp = &tmp2;
firstCall = true;
}
if (getMaterial(seedX, seedY) == fromM) {
std::vector<int> found;
found.push_back(seedX);
found.push_back(seedY);
if (tmp->count(found) == 0) {
(*tmp)[found] = 2;
if (offsetX != 0) {
regionGrowing(fromM, toM, seedX + 1, seedY, offsetX,
offsetY, tmp);
regionGrowing(fromM, toM, seedX - 1, seedY, offsetX,
offsetY, tmp);
}
if (offsetY != 0) {
regionGrowing(fromM, toM, seedX, seedY + 1, offsetX,
offsetY, tmp);
regionGrowing(fromM, toM, seedX, seedY - 1, offsetX,
offsetY, tmp);
}
}
}
if (firstCall) {
std::map<std::vector<int>, int>::iterator iter;
for (iter = tmp->begin(); iter != tmp->end(); iter++) {
setMaterial((iter->first)[0],(iter->first)[1],toM);
}
}
return;
}
void TeamMarkerPerceptor::extractTeamMarkers(TeamMarkerSpots& teamMarkerSpots)
{
typedef const RegionPercept::Region* R;
unsigned start = SystemCall::getRealSystemTime();
for(R region = theRegionPercept.regions, end = region + theRegionPercept.regionsCounter; region < end; ++region)
{
switch(region->color)
{
case ColorClasses::blue:
case ColorClasses::robotBlue:
case ColorClasses::red:
{
unsigned duration = SystemCall::getRealSystemTime() - start;
if(duration > params.maxDuration)
{
DEBUG_RESPONSE("module:TeamMarkerPerceptor:time",
{
OUTPUT_WARNING("SKIPPED team marker perception (duration: " << duration << " ms)");
});
return;
}
TeamMarkerSpots::TeamMarkerSpot teamMarker;
teamMarker.color = region->color;
ABORTABLE_STEP(regionCheck(region), *region->childs[0], ColorClasses::red)
ABORTABLE_STEP(regionGrowing(teamMarker), approxCog, ColorClasses::green)
ABORTABLE_STEP(scanlineRegionArea(teamMarker), approxCog, ColorClasses::yellow)
ABORTABLE_STEP(scanlineRegionPrincipalAxis(teamMarker), approxCog, ColorClasses::orange)
polygonDebugDrawing(teamMarker);
teamMarkerSpots.teamMarkers.push_back(teamMarker);
break;
}
/**
Fonction principale de traitement
*/
void modeStationnaire()
{
// Declaration
//Fps timeCounter;
int on = 1;
pthread_t grabF;
pthread_t grabB;
int id_from, id_msg, ordre = 100;
cvNamedWindow("T",CV_WINDOW_AUTOSIZE);
std::cerr << std::endl << std::endl;
// Lancement des threads
if(captureCameraF!=NULL){
pthread_create ( &grabF, NULL, grabCamF, NULL );
}
if(captureCameraB!=NULL){
pthread_create ( &grabB, NULL, grabCamB, NULL );
}
string s;
// Boucle principale
while(on){
cin >> s;
parse(s,&id_from, &id_msg, &ordre);
cout << -1 << '.' << id_msg << '.';
//cout << id_from << id_msg << ordre;
//scanf("%d.%d.%d",&id_from, &id_msg, &ordre);
//fflush(stdin);
//printf("-1.%d.[]",id_msg);
// *****
switch(ordre){
// --- Identification ---
case 0:{
cout << 1 << '.' << "cam";
break;}
// --- Ping ---
case 1:{
cout << "Pong";
break;}
// --- ScanAvant ---
case 64:{
pthread_mutex_lock (& mu);
imgBas=cvQueryFrame(captureCameraF);
pthread_mutex_unlock (& mu);
listFinal->iniPtr();
while(listFinal->getEle()!=NULL){
listFinal->getEle()->color=5;
listFinal->ptrSuiv();
}
binarisation();
regionGrowing();
listFinal = analyseListeRegion(listBeforeTrait, IMG_WIDTH, IMG_HEIGHT);
sendData(listFinal);
//afficheListeRegion(listFinal, imgBas);
//cvShowImage("T",imgBas);
cvWaitKey(10);
break;}
// --- ScanArriére ---
case 65:{
pthread_mutex_lock (& mu);
imgBas=cvQueryFrame(captureCameraB);
pthread_mutex_unlock (& mu);
listFinal->iniPtr();
while(listFinal->getEle()!=NULL){
listFinal->getEle()->color=5;
listFinal->ptrSuiv();
}
binarisation();
regionGrowing();
listFinal = analyseListeRegion(listBeforeTrait, IMG_WIDTH, IMG_HEIGHT);
sendData(listFinal);
//afficheListeRegion(listFinal, imgBas);
//cvShowImage("T",imgBas);
cvWaitKey(10);
break;}
#define SXL 20
case 62:{
for(int tmp=0; tmp<5; tmp++)
{
pthread_mutex_lock (& mu);
imgBas=cvQueryFrame(captureCameraF);
pthread_mutex_unlock (& mu);
binarisation();
regionGrowing();
if(tmp==0){
listFinal = analyseListeRegion(listBeforeTrait, IMG_WIDTH, IMG_HEIGHT);
listFinal->iniPtr();
while(listFinal->getEle()!=NULL){
listFinal->getEle()->color=0;
listFinal->ptrSuiv();
}
}else{
listTmp = analyseListeRegion(listBeforeTrait, IMG_WIDTH, IMG_HEIGHT);
listFinal->iniPtr();
while(listFinal->getEle()!=NULL){
listTmp->iniPtr();
while(listTmp->getEle()!=NULL){
if
(
listTmp->getEle()->Xprime - SXL < listFinal->getEle()->Xprime &&
listTmp->getEle()->Xprime + SXL > listFinal->getEle()->Xprime &&
listTmp->getEle()->Yprime - SXL < listFinal->getEle()->Yprime &&
listTmp->getEle()->Yprime + SXL > listFinal->getEle()->Yprime
)
{
listFinal->getEle()->color++;
}
listTmp->ptrSuiv();
}
listFinal->ptrSuiv();
}
}
}
sendData(listFinal);
break;}
case 63:{
for(int tmp=0; tmp<5; tmp++)
{
pthread_mutex_lock (& mu);
imgBas=cvQueryFrame(captureCameraB);
pthread_mutex_unlock (& mu);
binarisation();
regionGrowing();
if(tmp==0){
listFinal = analyseListeRegion(listBeforeTrait, IMG_WIDTH, IMG_HEIGHT);
listFinal->iniPtr();
while(listFinal->getEle()!=NULL){
listFinal->getEle()->color=0;
listFinal->ptrSuiv();
}
}else{
listTmp = analyseListeRegion(listBeforeTrait, IMG_WIDTH, IMG_HEIGHT);
listFinal->iniPtr();
while(listFinal->getEle()!=NULL){
listTmp->iniPtr();
while(listTmp->getEle()!=NULL){
if
(
listTmp->getEle()->Xprime - SXL < listFinal->getEle()->Xprime &&
listTmp->getEle()->Xprime + SXL > listFinal->getEle()->Xprime &&
listTmp->getEle()->Yprime - SXL < listFinal->getEle()->Yprime &&
listTmp->getEle()->Yprime + SXL > listFinal->getEle()->Yprime
)
{
listFinal->getEle()->color++;
}
listTmp->ptrSuiv();
}
listFinal->ptrSuiv();
}
}
}
sendData(listFinal);
break;}
// --- Arrét du programme ---
case -1:{
on = 0;
break;}
case 69:{
on = 0;
break;}
}
// *****
cout << endl;
fflush(stdout);
}
}
