void Controller::setTrackersToCounters(){
for(auto & tracker : trackers) {
dlib::point p = tracker.second.current();//it->second.current();
CT::identifier_t best_counter_id = getBestLine(p);
if(best_counter_id != -1)
setTrackerToCounter(tracker.first, best_counter_id);
}
}
void Controller::process(std::vector<dlib::rectangle> & curObjDetected, dlib::cv_image<dlib::bgr_pixel> & cimg) {
// Track newly detected faces if don't overlap with already tracked face
for(uint i = 0; i < curObjDetected.size(); i++) {
dlib::rectangle face = curObjDetected[i];
bool alreadytracked = false;
// We check that the detected object is not tracked yey
for(auto & tracker : trackers) {
if(face.contains(dlib::center(tracker.second.getTracker().get_position())) || tracker.second.getTracker().get_position().contains(dlib::center(face))) {
alreadytracked = true;
break;
}
}
// If the object was not detected yet we initialise a tracker on the object position
if(!alreadytracked) {
dlib::point p = dlib::center(face);
CT::Tracker tracker(IDGenerator::instance().next(), getBestLine(p));
tracker.initTrack(cimg,face);
trackers.insert(std::make_pair(tracker.getId(), tracker));
}
}
}
int MatFinder::runFinderOnCurrentPosition()
{
Board::Side sideToMove = cb_->getActiveSide();
Utils::output("Starting board is :\n" + cb_->to_string() + "\n");
Utils::output("Doing some basic evaluation on submitted position...\n");
sendCurrentPositionToEngine();
lines_.assign(Options::getMaxLines(), Line::emptyLine);
sendToEngine("go depth "
+ to_string(Options::getPlayforMovetime()));
waitBestmove();
Utils::output("Evaluation is :\n");
Utils::output(getPrettyLines());
//TODO: check
if (!lines_[0].empty()) {
Side winning;
if ((lines_[0].getEval() < 0 && sideToMove == Side::WHITE)
|| (lines_[0].getEval() > 0 && sideToMove == Side::BLACK))
winning = Side::BLACK;
else
winning = Side::WHITE;
engine_play_for_ = (winning == Side::WHITE)?
Side::BLACK:Side::WHITE;
}
Utils::output("Engine will play for : "
+ Board::to_string(engine_play_for_) + "\n");
//Main loop
while (true) {
Line bestLine;
Side active = cb_->getActiveSide();
Utils::output("[" + Board::to_string(active)
+ "] Depth " + to_string(addedMoves_) + "\n");
sendCurrentPositionToEngine();
Utils::output(cb_->to_string(), 2);
//Thinking according to the side the engine play for
int moveTime = (active == engine_play_for_ || !addedMoves_) ?
Options::getPlayforMovetime() :
Options::getPlayagainstMovetime();
//Compute optimal multipv
int pv = updateMultiPV();
//Scaling moveTime
//According to number of lines
//moveTime = (int)(moveTime * ((float)
// ((float)pv/(float)Options::getMaxLines())
// ));
//if (moveTime <= 600)
// moveTime = 600;
//Acccording to depth
//moveTime += 10 * addedMoves_;
//Initialize vector with empty lines
lines_.assign(Options::getMaxLines(), Line::emptyLine);
//Increase movetime with depth
sendToEngine("go depth " + to_string(moveTime));
Utils::output("[" + Board::to_string(active)
+ "] Thinking... (" + to_string(moveTime) + ")\n", 1);
//Wait for engine to finish thinking
waitBestmove();
Utils::output(getPrettyLines(), 2);
bestLine = getBestLine();
if (bestLine.empty() || bestLine.isMat() ||
fabs(bestLine.getEval()) > Options::getMateEquiv()) {
//Handle the case where we should backtrack
if (addedMoves_ > 0) {
Utils::output("\tBacktracking " + cb_->getUciMoves().back()
+ " (addedMove#" + to_string(addedMoves_)
+ ")\n");
/*
* We did a "mistake" : a line previously unbalanced is now a
* draw, we should better the backtracking by, for example,
* increasing attacking time
*/
if (bestLine.empty())
Utils::output("\n\n\n\n DEFENDER SURVIVED \n\n\n\n ", 1);
//Remove opposite side previous move
addedMoves_--;
cb_->undoMove();
if (active == engine_play_for_) {
//Remove our previous move if we had one, since the
//mat is "recorded" by engine
//(not the case if starting side is not the side
//the engine play for)
if (addedMoves_ > 0) {
addedMoves_--;
cb_->undoMove();
}
}
continue;
} else {
//This is the end (hold your breath and count to ten)
break;
}
}
//If we are here, we just need to handle the next move
Utils::output("[" + Board::to_string(active)
+ "] Chosen line : \n", 1);
Utils::output("\t" + getPrettyLine(bestLine,
Options::movesDisplayed) + "\n", 1);
string next = bestLine.firstMove();
Utils::output("\tNext move is " + next + "\n", 3);
addedMoves_++;
cb_->uciApplyMove(next);
}
//Display info at the end of computation
Utils::output("[End] Finder is done. Starting board was : \n");
Utils::output(cb_->to_string() + "\n");
if (engine_play_for_ == sideToMove)
Utils::output("All lines should now be draw or mat :\n");
else
Utils::output("Best line should be mat or draw.\n");
Utils::output(getPrettyLines());
Utils::output("[End] Full best line is : \n");
Utils::output("[End] " + getPrettyLine(lines_[0]) + "\n");
Utils::output("[End] " + Utils::listToString(lines_[0].getMoves()) + "\n");
return 0;
}
