void Process::scrap(ProcessData const& data)
{
std::ifstream file(data.getFile());
NamedPipe namedPipe("/tmp/the_plazzaRead");
BruteForcer forcer;
ProcessData newData;
newData.setProcessNumber(this->_processNumber);
newData.setThreadStatus(-1);
newData.setFile(data.getFile());
namedPipe.openPipe(WRITER);
if (file.is_open())
{
forcer.setRaw(std::string(std::istreambuf_iterator<char>(file),
std::istreambuf_iterator<char>()));
file.close();
}
else
{
std::cerr << "Can't open file " << data.getFile() << std::endl;
return ;
}
for(std::pair<std::string, std::string> pair : this->_regex)
{
if (pair.first == data.getInfoToFind())
{
forcer.setExpr(pair.second);
for(std::string str : forcer.forceRaw())
{
newData.setRslt(str.c_str());
namedPipe << newData;
std::cout << str.c_str() << std::endl;
}
return ;
}
}
std::cerr << "Bad info type " << data.getInfoToFind() << std::endl;
}
int main(const int argc, const char* argv[]) {
// Ensure OpenCV is using optimized code
cv::setUseOptimized(true);
if(argc < 2) {
std::cerr << "Named of named pipe required" << std::endl;
return 1;
}
std::ofstream namedPipe(argv[1], std::ofstream::out);
vision::Config config("config/config.xml");
vision::Camera camera(0, config.getPitch(0));
//vision::Camera camera("/home/euan/Downloads/pitch (1).avi", config.getPitch(0));
cv::Point2f lastBallPos;
bool seenBall = false;
bool seenYellowGreen = false;
cv::Point2f lastYGPos;
double lastYGO = 0;
bool seenYellowPink = false;
cv::Point2f lastYPPos;
double lastYPO = 0;
bool seenBlueGreen = false;
cv::Point2f lastBGPos;
double lastBGO = 0;
bool seenBluePink = false;
cv::Point2f lastBPPos;
double lastBPO = 0;
// Main processing loop
// Grabs, decodes and stores a frame from capture each iteration
while(camera.update()) {
cv::UMat frame = camera.getFrame();
std::vector<std::vector<struct ColouredCircle> > circles = findColouredCirclesInFrame(frame, camera.getBackgroundImage());
for(size_t r=0;r<circles[0].size();r++) {
for(size_t c=1;c<circles.size();c++) {
for(size_t i=0;i<circles[c].size();i++) {
double dist = euclidianDistance(circles[0][r].center, circles[c][i].center);
if(dist < 20) {
circles[0][r].radius = 0;
break;
}
}
}
}
cv::Point2f ball;
double ballSize = 2;
bool ballFound = false;
for(size_t i = 0; i < circles[0].size(); i++) {
if(circles[0][i].radius > ballSize) {
ballFound = true;
ball = circles[0][i].center;
ballSize = circles[0][i].radius;
}
}
std::vector<struct ColouredCircle> pinkAndGreen = circles[3];
pinkAndGreen.insert(pinkAndGreen.end(), circles[4].begin(), circles[4].end());
bool ygFound = false;
bool ypFound = false;
bool bgFound = false;
bool bpFound = false;
std::vector<struct Robot> robots;
for(size_t blue = 0; blue < circles[1].size(); blue++) {
sort(pinkAndGreen.begin(), pinkAndGreen.end(), [circles, blue](struct ColouredCircle x, struct ColouredCircle y) {
double distX = euclidianDistance(circles[1][blue].center, x.center);
double distY = euclidianDistance(circles[1][blue].center, y.center);
return (distX < distY);
});
size_t len = 4;
if(pinkAndGreen.size() < len) {
continue;
}
std::vector<struct ColouredCircle> markers;
int numG = 0, numP = 0;
for(size_t i = 0; i < len; i++) {
markers.push_back(pinkAndGreen[i]);
if(pinkAndGreen[i].colour == 3) {
numP++;
} else {
numG++;
}
}
bool shouldContinue = true;
for(size_t i = 0; i < markers.size(); i++) {
double dist = euclidianDistance(circles[1][blue].center, markers[i].center);
if(dist > 50) {
shouldContinue = false;
break;
}
}
if(!shouldContinue) {
continue;
}
struct Robot r;
if(numP < numG) {
r.pos = circles[1][blue].center;
size_t pindex = 0;
for(size_t i = 0; i < markers.size(); i++) {
if(markers[i].colour == 3) {
pindex = i;
}
}
cv::Point2f botLeftOrigin = markers[pindex].center - r.pos;
r.orientation = -atan2(botLeftOrigin.x, botLeftOrigin.y) - 0.4;
r.team = 0;
r.colour = 0;
r.markers = markers;
bgFound = true;
} else {
r.pos = circles[1][blue].center;
size_t pindex = 0;
for(size_t i = 0; i < markers.size(); i++) {
if(markers[i].colour == 4) {
pindex = i;
}
}
cv::Point2f botLeftOrigin = markers[pindex].center - r.pos;
r.orientation = -atan2(botLeftOrigin.x, botLeftOrigin.y) - 0.4;
r.team = 0;
r.colour = 1;
r.markers = markers;
bpFound = true;
}
robots.push_back(r);
}
for(size_t yellow = 0; yellow < circles[2].size(); yellow++) {
sort(pinkAndGreen.begin(), pinkAndGreen.end(), [circles, yellow](struct ColouredCircle x, struct ColouredCircle y) {
double distX = euclidianDistance(circles[2][yellow].center, x.center);
double distY = euclidianDistance(circles[2][yellow].center, y.center);
return (distX < distY);
});
size_t len = 4;
if(pinkAndGreen.size() < len) {
continue;
}
std::vector<struct ColouredCircle> markers;
int numG = 0, numP = 0;
for(size_t i = 0; i < len; i++) {
markers.push_back(pinkAndGreen[i]);
if(pinkAndGreen[i].colour == 3) {
numP++;
} else {
numG++;
}
}
bool shouldContinue = true;
for(size_t i = 0; i < markers.size(); i++) {
double dist = euclidianDistance(circles[2][yellow].center, markers[i].center);
if(dist > 50) {
shouldContinue = false;
break;
}
}
if(!shouldContinue) {
continue;
}
struct Robot r;
if(numP < numG) {
r.pos = circles[2][yellow].center;
size_t pindex = 0;
for(size_t i = 0; i < markers.size(); i++) {
if(markers[i].colour == 3) {
pindex = i;
}
}
cv::Point2f botLeftOrigin = markers[pindex].center - r.pos;
r.orientation = -atan2(botLeftOrigin.x, botLeftOrigin.y) - 0.4;
r.team = 1;
r.colour = 0;
r.markers = markers;
ygFound = true;
} else {
r.pos = circles[2][yellow].center;
size_t pindex = 0;
for(size_t i = 0; i < markers.size(); i++) {
if(markers[i].colour == 4) {
pindex = i;
}
}
cv::Point2f botLeftOrigin = markers[pindex].center - r.pos;
r.orientation = -atan2(botLeftOrigin.x, botLeftOrigin.y) - 0.4;
r.team = 1;
r.colour = 1;
r.markers = markers;
ypFound = true;
}
robots.push_back(r);
}
std::vector<std::string> jsonKeyObjects;
if(!ballFound) {
ball = lastBallPos;
} else {
std::stringstream jsonBall;
jsonBall << "\"b\":{\"x\":" << ball.x << ",\"y\":" << ball.y << "}";
jsonKeyObjects.push_back(jsonBall.str());
}
cv::arrowedLine(frame, ball, ball + (ball-lastBallPos)*10, cv::Scalar(255,255,255), 3);
cv::circle(frame, ball, 10, cv::Scalar(0, 0, 255), 3);
lastBallPos = ball;
for(size_t i = 0; i < robots.size(); i++) {
if(robots[i].team == 0 && robots[i].colour == 0) {
bgFound = true;
lastBGPos = robots[i].pos;
lastBGO = robots[i].orientation;
} else if(robots[i].team == 0 && robots[i].colour == 1) {
bpFound = true;
lastBPPos = robots[i].pos;
lastBPO = robots[i].orientation;
} else if(robots[i].team == 1 && robots[i].colour == 0) {
ygFound = true;
lastYGPos = robots[i].pos;
lastYGO = robots[i].orientation;
} else if(robots[i].team == 1 && robots[i].colour == 1) {
ypFound = true;
lastYPPos = robots[i].pos;
lastYPO = robots[i].orientation;
}
}
if(bgFound) {
seenBlueGreen = true;
} else if(seenBlueGreen) {
seenBlueGreen = false;
cv::circle(frame, lastBGPos, 10, cv::Scalar(255, 0, 0), 3);
cv::circle(frame, lastBGPos, 50, cv::Scalar(0, 255, 0), 3);
cv::Point2f newPoint(
float(0 * cos(lastBGO) - (-20 * sin(lastBGO))),
float(0 * sin(lastBGO) + (-20 * cos(lastBGO)))
);
cv::line(frame, lastBGPos, lastBGPos + newPoint, cv::Scalar(0, 255, 0), 2);
}
if(bpFound) {
seenBluePink = true;
} else if(seenBluePink) {
seenBluePink = false;
cv::circle(frame, lastBPPos, 10, cv::Scalar(255, 0, 0), 3);
cv::circle(frame, lastBPPos, 50, cv::Scalar(255, 0, 255), 3);
cv::Point2f newPoint(
float(0 * cos(lastBPO) - (-20 * sin(lastBPO))),
float(0 * sin(lastBPO) + (-20 * cos(lastBPO)))
);
cv::line(frame, lastBPPos, lastBPPos + newPoint, cv::Scalar(0, 255, 0), 2);
}
if(ygFound) {
seenYellowGreen = true;
} else if(seenYellowGreen) {
seenYellowGreen = false;
cv::circle(frame, lastYGPos, 10, cv::Scalar(0, 255, 255), 3);
cv::circle(frame, lastYGPos, 50, cv::Scalar(0, 255, 0), 3);
cv::Point2f newPoint(
float(0 * cos(lastYGO) - (-20 * sin(lastYGO))),
float(0 * sin(lastYGO) + (-20 * cos(lastYGO)))
);
cv::line(frame, lastYGPos, lastYGPos + newPoint, cv::Scalar(0, 255, 0), 2);
}
if(ypFound) {
seenYellowPink = true;
} else if(seenYellowPink) {
seenYellowPink = false;
cv::circle(frame, lastYPPos, 10, cv::Scalar(0, 255, 255), 3);
cv::circle(frame, lastYPPos, 50, cv::Scalar(255, 0, 255), 3);
cv::Point2f newPoint(
float(0 * cos(lastYPO) - (-20 * sin(lastYPO))),
float(0 * sin(lastYPO) + (-20 * cos(lastYPO)))
);
cv::line(frame, lastYPPos, lastYPPos + newPoint, cv::Scalar(0, 255, 0), 2);
}
for(size_t i = 0; i < robots.size(); i++) {
struct Robot r = robots[i];
cv::circle(frame, r.pos, 10, (r.team == 0 ? cv::Scalar(255, 0, 0) : cv::Scalar(0, 255, 255)), 3);
cv::circle(frame, r.pos, 50, (r.colour == 0 ? cv::Scalar(0, 255, 0) : cv::Scalar(255, 0, 255)), 3);
cv::Point2f newPoint(
float(0 * cos(r.orientation) - (-20 * sin(r.orientation))),
float(0 * sin(r.orientation) + (-20 * cos(r.orientation)))
);
cv::line(frame, r.pos, r.pos + newPoint, cv::Scalar(0, 255, 0), 2);
std::stringstream jsonRobot;
jsonRobot << '"';
if(r.team == 0) {
jsonRobot << 'b';
} else {
jsonRobot << 'y';
}
if(r.colour == 0) {
jsonRobot << 'g';
} else {
jsonRobot << 'p';
}
jsonRobot << "\":{\"x\":" << r.pos.x << ",\"y\":" << r.pos.y << ",\"f\":" << r.orientation * 180 / M_PI << "}";
jsonKeyObjects.push_back(jsonRobot.str());
}
namedPipe << '{';
for(size_t j = 0; j < jsonKeyObjects.size(); j++) {
namedPipe << jsonKeyObjects[j];
if(j != jsonKeyObjects.size() - 1) {
namedPipe << ',';
}
}
namedPipe << "}\n";
std::flush(namedPipe);
cv::imshow("Frame", frame);
// Update windows and check if a key has been pressed
char key = char(cv::waitKey(1));
// Check if user wants to quit
if(key == 'q' || key == 'Q' || key == ESC_KEY) {
break;
}
}
}
