void Environment::sendVision() {
SSL_WrapperPacket wrapper;
SSL_DetectionFrame* det = wrapper.mutable_detection();
det->set_frame_number(_frameNumber++);
det->set_camera_id(0);
struct timeval tv;
gettimeofday(&tv, nullptr);
det->set_t_capture(tv.tv_sec + (double)tv.tv_usec * 1.0e-6);
det->set_t_sent(det->t_capture());
for (Robot* robot : _yellow) {
if ((rand() % 100) < robot->visibility) {
SSL_DetectionRobot* out = det->add_robots_yellow();
convert_robot(robot, out);
}
}
for (Robot* robot : _blue) {
if ((rand() % 100) < robot->visibility) {
SSL_DetectionRobot* out = det->add_robots_blue();
convert_robot(robot, out);
}
}
for (const Ball* b : _balls) {
Geometry2d::Point ballPos = b->getPosition();
// bool occ;
// if (ballPos.x < 0)
// {
// occ = occluded(ballPos, cam0);
// } else {
// occ = occluded(ballPos, cam1);
// }
if ((rand() % 100) < ballVisibility) {
SSL_DetectionBall* out = det->add_balls();
out->set_confidence(1);
out->set_x(ballPos.x * 1000);
out->set_y(ballPos.y * 1000);
out->set_pixel_x(ballPos.x * 1000);
out->set_pixel_y(ballPos.y * 1000);
}
}
std::string buf;
wrapper.SerializeToString(&buf);
if (sendShared) {
_visionSocket.writeDatagram(&buf[0], buf.size(), MulticastAddress,
SharedVisionPort);
} else {
_visionSocket.writeDatagram(&buf[0], buf.size(), LocalAddress,
SimVisionPort);
_visionSocket.writeDatagram(&buf[0], buf.size(), LocalAddress,
SimVisionPort + 1);
}
}
SSL_WrapperPacket* SSLWorld::generatePacket()
{
SSL_WrapperPacket* packet = new SSL_WrapperPacket;
float x,y,z,dir;
ball->getBodyPosition(x,y,z);
packet->mutable_detection()->set_camera_id(0);
packet->mutable_detection()->set_frame_number(framenum);
double t_elapsed = timer->elapsed()/1000.0;
packet->mutable_detection()->set_t_capture(t_elapsed);
packet->mutable_detection()->set_t_sent(t_elapsed);
float dev_x = cfg->noiseDeviation_x();
float dev_y = cfg->noiseDeviation_y();
float dev_a = cfg->noiseDeviation_angle();
if (cfg->noise()==false) {dev_x = 0;dev_y = 0;dev_a = 0;}
if ((cfg->vanishing()==false) || (rand0_1() > cfg->ball_vanishing()))
{
SSL_DetectionBall* vball = packet->mutable_detection()->add_balls();
vball->set_x(randn_notrig(x*1000.0f,dev_x));
vball->set_y(randn_notrig(y*1000.0f,dev_y));
vball->set_z(z*1000.0f);
vball->set_pixel_x(x*1000.0f);
vball->set_pixel_y(y*1000.0f);
vball->set_confidence(0.9 + rand0_1()*0.1);
}
for(int i = 0; i < ROBOT_COUNT; i++){
if ((cfg->vanishing()==false) || (rand0_1() > cfg->blue_team_vanishing()))
{
if (!robots[i]->on) continue;
SSL_DetectionRobot* rob = packet->mutable_detection()->add_robots_blue();
robots[i]->getXY(x,y);
dir = robots[i]->getDir();
rob->set_robot_id(i);
rob->set_pixel_x(x*1000.0f);
rob->set_pixel_y(y*1000.0f);
rob->set_confidence(1);
rob->set_x(randn_notrig(x*1000.0f,dev_x));
rob->set_y(randn_notrig(y*1000.0f,dev_y));
rob->set_orientation(normalizeAngle(randn_notrig(dir,dev_a))*M_PI/180.0f);
}
}
for(int i = ROBOT_COUNT; i < ROBOT_COUNT*2; i++){
if ((cfg->vanishing()==false) || (rand0_1() > cfg->yellow_team_vanishing()))
{
if (!robots[i]->on) continue;
SSL_DetectionRobot* rob = packet->mutable_detection()->add_robots_yellow();
robots[i]->getXY(x,y);
dir = robots[i]->getDir();
rob->set_robot_id(i-ROBOT_COUNT);
rob->set_pixel_x(x*1000.0f);
rob->set_pixel_y(y*1000.0f);
rob->set_confidence(1);
rob->set_x(randn_notrig(x*1000.0f,dev_x));
rob->set_y(randn_notrig(y*1000.0f,dev_y));
rob->set_orientation(normalizeAngle(randn_notrig(dir,dev_a))*M_PI/180.0f);
}
}
return packet;
}
ProcessResult PluginDetectBalls::process ( FrameData * data, RenderOptions * options ) {
( void ) options;
if ( data==0 ) return ProcessingFailed;
SSL_DetectionFrame * detection_frame = 0;
detection_frame= ( SSL_DetectionFrame * ) data->map.get ( "ssl_detection_frame" );
if ( detection_frame == 0 ) detection_frame= ( SSL_DetectionFrame * ) data->map.insert ( "ssl_detection_frame",new SSL_DetectionFrame() );
int color_id_ball = _lut->getChannelID ( _settings->_color_label->getString() );
if ( color_id_ball == -1 ) {
printf ( "Unknown Ball Detection Color Label: '%s'\nAborting Plugin!\n",_settings->_color_label->getString().c_str() );
return ProcessingFailed;
}
//delete any previous detection results:
detection_frame->clear_balls();
//TODO: add a vartype notifier for better performance.
//initialize filter:
if (vnotify.hasChanged()) {
max_balls = _settings->_max_balls->getInt();
filter.setWidth ( _settings->_ball_min_width->getInt(),_settings->_ball_max_width->getInt() );
filter.setHeight ( _settings->_ball_min_height->getInt(),_settings->_ball_max_height->getInt() );
filter.setArea ( _settings->_ball_min_area->getInt(),_settings->_ball_max_area->getInt() );
field_filter.update ( field );
//copy all vartypes to local variables for faster repeated lookup:
filter_ball_in_field = _settings->_ball_on_field_filter->getBool();
filter_ball_on_field_filter_threshold = _settings->_ball_on_field_filter_threshold->getDouble();
filter_ball_in_goal = _settings->_ball_in_goal_filter->getBool();
filter_ball_histogram = _settings->_ball_histogram_enabled->getBool();
if ( filter_ball_histogram ) {
if ( color_id_ball != color_id_orange ) {
printf ( "Warning: ball histogram check is only configured for orange balls!\n" );
printf ( "Please disable the histogram check in the Ball Detection Plugin settings\n" );
}
if ( color_id_pink==-1 || color_id_orange==-1 || color_id_yellow==-1 || color_id_field==-1 ) {
printf ( "WARNING: some LUT color labels where undefined for the ball detection plugin\n" );
printf ( " Disabling histogram check!\n" );
filter_ball_histogram=false;
}
}
min_greenness = _settings->_ball_histogram_min_greenness->getDouble();
max_markeryness = _settings->_ball_histogram_max_markeryness->getDouble();
//setup values used for the gaussian confidence measurement:
filter_gauss = _settings->_ball_gauss_enabled->getBool();
exp_area_min = _settings->_ball_gauss_min->getInt();
exp_area_max = _settings->_ball_gauss_max->getInt();
exp_area_var = sq ( _settings->_ball_gauss_stddev->getDouble() );
z_height= _settings->_ball_z_height->getDouble();
near_robot_filter = _settings->_ball_too_near_robot_enabled->getBool();
near_robot_dist_sq = sq(_settings->_ball_too_near_robot_dist->getDouble());
}
const CMVision::Region * reg = 0;
//acquire orange region list from data-map:
CMVision::ColorRegionList * colorlist;
colorlist= ( CMVision::ColorRegionList * ) data->map.get ( "cmv_colorlist" );
if ( colorlist==0 ) {
printf ( "error in ball detection plugin: no region-lists were found!\n" );
return ProcessingFailed;
}
reg = colorlist->getRegionList ( color_id_ball ).getInitialElement();
//acquire color-labeled image from data-map:
const Image<raw8> * image = ( Image<raw8> * ) ( data->map.get ( "cmv_threshold" ) );
if ( image==0 ) {
printf ( "error in ball detection plugin: no color-thresholded image was found!\n" );
return ProcessingFailed;
}
int robots_blue_n=0;
int robots_yellow_n=0;
bool use_near_robot_filter=near_robot_filter;
if ( use_near_robot_filter ) {
SSL_DetectionFrame * detection_frame = ( SSL_DetectionFrame * ) data->map.get ( "ssl_detection_frame" );
if ( detection_frame==0 ) {
use_near_robot_filter=false;
} else {
robots_blue_n=detection_frame->robots_blue_size();
robots_yellow_n=detection_frame->robots_yellow_size();
if (robots_blue_n==0 && robots_yellow_n==0) use_near_robot_filter=false;
}
}
if ( max_balls > 0 ) {
list<BallDetectResult> result;
filter.init ( reg );
while ( ( reg = filter.getNext() ) != 0 ) {
float conf = 1.0;
if ( filter_gauss==true ) {
int a = reg->area - bound ( reg->area,exp_area_min,exp_area_max );
conf = gaussian ( a / exp_area_var );
}
//TODO: add a plugin for confidence masking... possibly multi-layered.
// to replace the commented det.mask.get(...) below:
//if (filter_conf_mask) conf*=det.mask.get(reg->cen_x,reg->cen_y));
//convert from image to field coordinates:
vector2d pixel_pos ( reg->cen_x,reg->cen_y );
vector3d field_pos_3d;
camera_parameters.image2field ( field_pos_3d,pixel_pos,z_height );
vector2d field_pos ( field_pos_3d.x,field_pos_3d.y );
//filter points that are outside of the field:
if ( filter_ball_in_field==true && field_filter.isInFieldPlusThreshold ( field_pos, max(0.0,filter_ball_on_field_filter_threshold) ) ==false ) {
conf = 0.0;
}
//filter out points that are deep inside the goal-box
if ( filter_ball_in_goal==true && field_filter.isFarInGoal ( field_pos ) ==true ) {
conf = 0.0;
}
//TODO add ball-too-near-robot filter
if ( use_near_robot_filter && conf > 0.0 ) {
int robots_n=0;
for (int team = 0; team < 2; team++) {
if (team==0) {
robots_n=robots_blue_n;
} else {
robots_n=robots_yellow_n;
}
if (robots_n > 0) {
::google::protobuf::RepeatedPtrField< ::SSL_DetectionRobot > * robots;
if (team==0) {
robots = detection_frame->mutable_robots_blue();
} else {
robots = detection_frame->mutable_robots_yellow();
}
for (int r = 0; r < robots_n; r++) {
const SSL_DetectionRobot & robot = robots->Get(r);
if (robot.confidence() > 0.0) {
if ((sq((double)(robot.x())-(double)(field_pos.x)) + sq((double)(robot.y())-(double)(field_pos.y))) < near_robot_dist_sq) {
conf = 0.0;
break;
}
}
}
if (conf==0.0) break;
}
}
}
// histogram check if enabled
if ( filter_ball_histogram && conf > 0.0 && checkHistogram ( image, reg, min_greenness, max_markeryness ) ==false ) {
conf = 0.0;
}
// add filtered region to the region list
if(conf > 0) {
result.push_back(BallDetectResult(reg,conf));
}
}
// sort result by confidence and output first max_balls region(s)
result.sort();
int num_ball = 0;
list<BallDetectResult>::reverse_iterator it;
for(it=result.rbegin(); it!=result.rend(); it++) {
if(++num_ball > max_balls)
break;
//update result:
SSL_DetectionBall* ball = detection_frame->add_balls();
ball->set_confidence ( it->conf );
vector2d pixel_pos ( it->reg->cen_x,it->reg->cen_y );
vector3d field_pos_3d;
camera_parameters.image2field ( field_pos_3d,pixel_pos,z_height );
ball->set_area ( it->reg->area );
ball->set_x ( field_pos_3d.x );
ball->set_y ( field_pos_3d.y );
ball->set_pixel_x ( it->reg->cen_x );
ball->set_pixel_y ( it->reg->cen_y );
}
}
return ProcessingOk;
}
SSL_WrapperPacket* SSLWorld::generatePacket()
{
SSL_WrapperPacket* packet = new SSL_WrapperPacket;
dReal x,y,z,dir;
ball->getBodyPosition(x,y,z);
packet->mutable_detection()->set_camera_id(0);
packet->mutable_detection()->set_frame_number(framenum);
dReal t_elapsed = timer->elapsed()/1000.0;
packet->mutable_detection()->set_t_capture(t_elapsed);
packet->mutable_detection()->set_t_sent(t_elapsed);
dReal dev_x = cfg->noiseDeviation_x();
dReal dev_y = cfg->noiseDeviation_y();
dReal dev_a = cfg->noiseDeviation_angle();
if (sendGeomCount++ % cfg->sendGeometryEvery() == 0)
{
SSL_GeometryData* geom = packet->mutable_geometry();
SSL_GeometryFieldSize* field = geom->mutable_field();
field->set_line_width(CONVUNIT(cfg->Field_Line_Width()));
field->set_field_length(CONVUNIT(cfg->Field_Length()));
field->set_field_width(CONVUNIT(cfg->Field_Width()));
field->set_boundary_width(CONVUNIT(cfg->Field_Margin()));
field->set_referee_width(CONVUNIT(cfg->Field_Referee_Margin()));
field->set_goal_width(CONVUNIT(cfg->Goal_Width()));
field->set_goal_depth(CONVUNIT(cfg->Goal_Depth()));
field->set_goal_wall_width(CONVUNIT(cfg->Goal_Thickness()));
field->set_center_circle_radius(CONVUNIT(cfg->Field_Rad()));
field->set_defense_radius(CONVUNIT(cfg->Field_Defense_Rad()));
field->set_defense_stretch(CONVUNIT(cfg->Field_Defense_Stretch()));
field->set_free_kick_from_defense_dist(CONVUNIT(cfg->Field_Free_Kick()));
//TODO: verify if these fields are correct:
field->set_penalty_line_from_spot_dist(CONVUNIT(cfg->Field_Penalty_Line()));
field->set_penalty_spot_from_field_line_dist(CONVUNIT(cfg->Field_Penalty_Point()));
}
if (cfg->noise()==false) {dev_x = 0;dev_y = 0;dev_a = 0;}
if ((cfg->vanishing()==false) || (rand0_1() > cfg->ball_vanishing()))
{
SSL_DetectionBall* vball = packet->mutable_detection()->add_balls();
vball->set_x(randn_notrig(x*1000.0f,dev_x));
vball->set_y(randn_notrig(y*1000.0f,dev_y));
vball->set_z(z*1000.0f);
vball->set_pixel_x(x*1000.0f);
vball->set_pixel_y(y*1000.0f);
vball->set_confidence(0.9 + rand0_1()*0.1);
}
for(int i = 0; i < ROBOT_COUNT; i++){
if ((cfg->vanishing()==false) || (rand0_1() > cfg->blue_team_vanishing()))
{
if (!robots[i]->on) continue;
SSL_DetectionRobot* rob = packet->mutable_detection()->add_robots_blue();
robots[i]->getXY(x,y);
dir = robots[i]->getDir();
rob->set_robot_id(i);
rob->set_pixel_x(x*1000.0f);
rob->set_pixel_y(y*1000.0f);
rob->set_confidence(1);
rob->set_x(randn_notrig(x*1000.0f,dev_x));
rob->set_y(randn_notrig(y*1000.0f,dev_y));
rob->set_orientation(normalizeAngle(randn_notrig(dir,dev_a))*M_PI/180.0f);
}
}
for(int i = ROBOT_COUNT; i < ROBOT_COUNT*2; i++){
if ((cfg->vanishing()==false) || (rand0_1() > cfg->yellow_team_vanishing()))
{
if (!robots[i]->on) continue;
SSL_DetectionRobot* rob = packet->mutable_detection()->add_robots_yellow();
robots[i]->getXY(x,y);
dir = robots[i]->getDir();
rob->set_robot_id(i-ROBOT_COUNT);
rob->set_pixel_x(x*1000.0f);
rob->set_pixel_y(y*1000.0f);
rob->set_confidence(1);
rob->set_x(randn_notrig(x*1000.0f,dev_x));
rob->set_y(randn_notrig(y*1000.0f,dev_y));
rob->set_orientation(normalizeAngle(randn_notrig(dir,dev_a))*M_PI/180.0f);
}
}
return packet;
}
