bool SearchLevel::isWalkable(int posX, int posY)
{
if (posX < 0 || posY < 0 || posX >= inputTexture->getWidth() || posY >= inputTexture->getHeight())
{
return false;
}
unsigned char* pixel = inputTexture->getPixel(posX, posY);
bool isNotWalkable = isGreen(pixel);
return !isNotWalkable;
}
QString CardOCR::suit(const QImage * img_wb, const QImage * img)
{
if ((img_wb->width() != img->width()) ||
(img_wb->height() != img->height()))
return QString();
const int w = img->width();
const int h = img->height();
QRgb clMinValue;
qreal minVal = 1.0;
for (int x = 0; x < w; ++x)
{
for (int y = 0; y < h; ++y)
{
QRgb rgb_wb = img_wb->pixel(x, y);
//рассматриваем только черные точки
if (rgb_wb == qRgb(0, 0, 0))
{
QRgb rgb = img->pixel(x, y);
QColor cl(rgb);
if (cl.valueF() < minVal)
{
minVal = cl.valueF();
clMinValue = rgb;
//qDebug() << x << y;
}
}
}
}
if (isRed(clMinValue))
return "h";
else if (isBlue(clMinValue))
return "d";
else if (isGreen(clMinValue))
return "c";
else
return "s";
return QString();
}
void CamCapture::showSegmentation()
{
CvScalar pixel;
for (int x = 0; x < width_var; ++x)
{
for (int y = 0; y < height_var; ++y)
{
if(isRed(x,y))
{
setPixel3C(pixel,0,0,255);
}
else if(isBlue(x, y))
{
setPixel3C(pixel,255,0,0);
}
else if(isYellow(x, y))
{
setPixel3C(pixel,0,255,255);
}
else if(isGreen(x, y))
{
setPixel3C(pixel,0,255,0);
}
else if(isWhite(x, y))
{
setPixel3C(pixel, 255, 255, 255);
}
else if(isBlack(x, y))
{
setPixel3C(pixel, 127, 127, 127);
}
else
{
setPixel3C(pixel,0,0,0);
}
cvSet2D(showSeg, y, x, pixel);
}
}
}
void initColorAndStartPosition2018(GameStrategyContext* gameStrategyContext) {
RobotConfig* robotConfig = gameStrategyContext->robotConfig;
unsigned int configValue = robotConfig->robotConfigReadInt(robotConfig);
if (configValue & CONFIG_COLOR_YELLOW_MASK) {
gameStrategyContext->color = TEAM_COLOR_2018_GREEN;
}
else {
gameStrategyContext->color = TEAM_COLOR_2018_ORANGE;
}
float angleDeciDegree = ANGLE_DECI_DEG_270;
gameStrategyContext->robotPosition->x = START_AREA_X;
gameStrategyContext->robotPosition->y = START_AREA_Y;
// Symetry
if (!isGreen(gameStrategyContext)) {
angleDeciDegree = ANGLE_DECI_DEG_90;
gameStrategyContext->robotPosition->y = GAMEBOARD_HEIGHT - gameStrategyContext->robotPosition->y;
}
float angleRadian = deciDegreeToRad(angleDeciDegree);
gameStrategyContext->robotAngleRadian = angleRadian;
}
void setColor(enum TeamColor color) {
GameStrategyContext* context = getStrategyContext();
appendStringAndDec(getInfoOutputStreamLogger(), "setColor:", color);
println(getInfoOutputStreamLogger());
context->color = color;
changeLocationsForColor();
int angle = 675;
if (!isGreen()) {
angle = -angle;
context->robotPosition.y = 2840;
}
else {
context->robotPosition.y = 160;
}
context->robotPosition.x = 160;
context->robotAngle = angle;
printStrategyAllDatas(getInfoOutputStreamLogger());
}
bool PathFindingApp::update(yam2d::ESContext* ctx, float deltaTime)
{
if (!m_appRunning)
return false;
if (deltaTime > 0.1f)
deltaTime = 0.1f;
#if defined(_WIN32)
if( isKeyReleased(yam2d::KEY_SPACE) )
{
quit();
}
// Restart search if r pressed
if (isKeyReleased(yam2d::KEY_R))
{
m_textureStartCase = 0;
m_texturePathFound = 0;
}
#endif
if (m_textureStartCase == 0)
{
// Delete old and load new
m_texturePathFound = 0;
const char* const inFileName = "input.png";
char buf[100];
sprintf_s(buf, "Start finding path from input image: \"%s\"", inFileName);
yam2d::esLogMessage(buf);
m_text->setText(buf);
m_textureStartCase = new yam2d::Texture(inFileName, true);
// Copy input data to map.
m_searchTimer = 0.0f;
int width = m_textureStartCase->getWidth();
int height = m_textureStartCase->getHeight();
int bpp = m_textureStartCase->getBytesPerPixel();
yam2d::Ref<yam2d::StreamTexture> newTexture = new yam2d::StreamTexture();
newTexture->setData(m_textureStartCase->getData(), width, height, bpp);
m_texturePathFound = newTexture;
m_searchCompleted = false;
}
if (!m_searchCompleted)
{
// Find start and end
int startX, startY, endX, endY;
startX = startY = endX = endY = -1;
for (int y = 0; y < m_textureStartCase->getHeight(); ++y)
{
for (int x = 0; x < m_textureStartCase->getWidth(); ++x)
{
unsigned char* p = m_textureStartCase->getPixel(x, y);
if (isRed(p))
{
// Red pixel
startX = x;
startY = y;
}
else if (isGreen(p))
{
// Green pixel
}
else if (isBlue(p))
{
// Blue pixel
endX = x;
endY = y;
}
}
}
// Update path find!! Set m_searchCompleted to true, when path found, so the texture data is updated.
if (startX >= 0 && startY >= 0 && endX >= 0 && endY >= 0)
{
yam2d::ElapsedTimer timer;
timer.reset();
m_searchCompleted = doPathfinding(startX, startY, endX, endY);
m_searchTimer += timer.getTime();
// Update new data to the GPU
m_texturePathFound->updateData();
}
else
{
assert(0);
}
if (m_searchCompleted)
{
char buf[100];
sprintf_s(buf, "Path find done. Time spent %.3f seconds", m_searchTimer);
yam2d::esLogMessage("%s\n",buf);
m_text->setText(buf);
}
} // if (!m_searchCompleted)
// Clear sprite before add new dynamic sprites.
m_batch->clear();
// Add sprites.
m_batch->addSprite(m_textureStartCase, m_spriteStartCase, yam2d::vec2(-256.0f - 20.0f, 0.0f), 0.0f, yam2d::vec2(512.0f, 512.0f));
m_batch->addSprite(m_texturePathFound, m_spritePathFound, yam2d::vec2(256.0f + 20.0f, 0.0f), 0.0f, yam2d::vec2(512.0f, 512.0f));
// Add text to position -400,300
m_batch->addText(m_fontTexture, m_text, yam2d::vec2(0, ((float)ctx->height) / 2.0f - 20.0f), 0.0f);
return true;
}
void ColorSeqDetector::input(IplImage *inputImg)
{
if(!img)
{
img = cvCreateImage(cvGetSize(inputImg), IPL_DEPTH_32F, 1);
cvZero(img);
}
if(!stateImg)
{
stateImg = cvCreateImage(cvGetSize(inputImg), IPL_DEPTH_8U, 3);
cvZero(stateImg);
}
else if(img->width != inputImg->width
|| img->height != inputImg->height)
{
cvReleaseImage(&img);
img = cvCreateImage(cvGetSize(inputImg), IPL_DEPTH_32F, 1);
cvReleaseImage(&stateImg);
stateImg = cvCreateImage(cvGetSize(inputImg), IPL_DEPTH_8U, 3);
cvZero(stateImg);
cvZero(img);
}
uchar *data;
int step;
CvSize(size);
uchar *state_data;
int state_step;
float *float_data;
int float_step;
cvGetRawData(inputImg, (uchar**)&data, &step, &size);
step /= sizeof(data[0]);
cvGetRawData(img, (uchar**)&float_data, &float_step, &size);
float_step /= sizeof(float_data[0]);
cvGetRawData(stateImg, (uchar**)&state_data, &state_step, &size);
state_step /= sizeof(state_data[0]);
for(int y = 0; y < size.height;
y++, data += step, state_data+=state_step, float_data+=float_step )
for(int x = 0; x < size.width; x++ )
{
uchar h = data[3*x];
uchar s = data[3*x+1];
uchar v = data[3*x+2];
uchar state = state_data[3*x];
uchar sstate = state_data[3*x+1];
uchar bstate = state_data[3*x+1];
float score = float_data[x];
switch(state){
case 0: // invalid state
if(isRed(h,s,v))
{
state = 1;
sstate = 0;
bstate = 0;
}
break;
case 1: // red state
if(isRed(h,s,v))
{
sstate++;
if(sstate > period+2)
{
sstate = 0;
state = 0;
}
}else if(sstate >= period-2 && isGreen(h,s,v))
{
state = 2;
sstate = 0;
bstate = 0;
}else{
bstate ++;
if(bstate > 1)
{
state = 0;
sstate = 0;
}
}
break;
case 2: // green state
if(isGreen(h,s,v))
{
sstate++;
if(sstate > period+2)
{
sstate = 0;
state = 0;
}
}else if(sstate >= period - 2 && isBlue(h,s,v))
{
state = 3;
sstate = 0;
bstate = 0;
}else{
bstate ++;
if(bstate > 1)
{
state = 0;
sstate = 0;
}
}
break;
case 3: // blue state
if(isBlue(h,s,v))
{
sstate++;
if(sstate > period+2)
{
sstate = 0;
state = 0;
}
}else if(sstate >= period-2 && isYellow(h,s,v))
{
state = 4;
sstate = 0;
bstate = 0;
}else{
bstate ++;
if(bstate > 1)
{
state = 0;
sstate = 0;
}
}
break;
case 4: // yellow state
if(isYellow(h,s,v))
{
sstate++;
if(sstate > period+2)
{
sstate = 0;
state = 0;
}
}else if(sstate >= period-2 && isRed(h,s,v))
{
state = 1;
sstate = 0;
bstate = 0;
score = 1.;
//float_data[x]=1.;
}else{
bstate ++;
if(bstate > 1)
{
state = 0;
sstate = 0;
}
}
break;
default:
state = 0;
sstate = 0;
break;
}
state_data[3*x] = state;
state_data[3*x+1] = sstate;
//float_data[x] = (float) state / 4.f;
score -= 0.005;
if(score < 0. )
{
score = 0.;
}
float_data[x] = score;
// if(state == 0){
// float_data[x] = 0.;
// }
}
emitNamedEvent("output", img);
}
