int main(int argc, char **argv) {
cv::Mat frame;
cv::Mat orig;
cv::Mat fore;
time_t camAdaptationStartTime = time(NULL);
bool camAdapted = false;
std::vector <std::vector<cv::Point>> contours;
EnableCameraAutoAdjust(GetVideoNum(argc, argv));
cv::VideoCapture cap(GetVideoNum(argc, argv));
cv::Ptr<cv::BackgroundSubtractor> bgsub;
cvNamedWindow("Contador de Votos", CV_WINDOW_NORMAL);
cvSetWindowProperty("Contador de Votos", CV_WND_PROP_AUTOSIZE, CV_WINDOW_AUTOSIZE);
ScreenSize ss = GetScreenSize();
cvResizeWindow("Contador de Votos", ss.width, ss.height);
cap >> frame;
const int squareSize = 150;
const int squareMargin = 10;
cv::Point leftOrigin(squareMargin, squareMargin);
cv::Point rightOrigin(frame.size().width - squareSize - squareMargin, squareMargin);
InteractiveObject left(cv::Rect(leftOrigin.x, leftOrigin.y, squareSize, squareSize));
InteractiveObject right(cv::Rect(rightOrigin.x, rightOrigin.y, squareSize, squareSize));
cv::Mat yesc = cv::imread("SWC.png", CV_LOAD_IMAGE_COLOR);
cv::resize(yesc, yesc, cv::Size(squareSize, squareSize));
cv::Mat yesbw = cv::imread("vader.jpg", CV_LOAD_IMAGE_COLOR);
cv::resize(yesbw, yesbw, cv::Size(squareSize, squareSize));
cv::Mat noc = cv::imread("STC.png", CV_LOAD_IMAGE_COLOR);
cv::resize(noc, noc, cv::Size(squareSize, squareSize));
cv::Mat nobw = cv::imread("spock.png", CV_LOAD_IMAGE_COLOR);
cv::resize(nobw, nobw, cv::Size(squareSize, squareSize));
cv::Mat vote = cv::imread("vote.png", CV_LOAD_IMAGE_COLOR);
cv::resize(vote,vote, cv::Size(squareSize, squareSize));
// VideoCapture video("Game.mp4");
while(true) {
cap >> frame;
cv::flip(frame, frame, 1);
frame.copyTo(orig);
/*Mat game;
video >> game;
cv::resize(game,game, cv::Size(squareSize, squareSize));
game.copyTo(orig(cv::Rect((rightOrigin.x + leftOrigin.x)/2, (rightOrigin.y + leftOrigin.y)/2 + 2*game.size().height , game.size().width, game.size().height)));*/
if (camAdapted) {
cv::blur(frame, frame, cv::Size(3, 3));
cv::blur(frame, frame, cv::Size(5, 5));
cv::erode( frame, frame, cv::Mat());
cv::erode( frame, frame, cv::Mat());
cv::Mat cropped;
cv::Rect roi(0, 0, frame.size().width, 150);
frame(roi).copyTo(cropped);
cv::Mat dst;
bgsub->apply(cropped, dst, 0.0001);
cv::threshold(dst, dst, 230, 255, CV_THRESH_BINARY);
cv::findContours(dst , contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
std::vector<std::vector<cv::Point> >hull( contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ cv::convexHull( cv::Mat(contours[i]), hull[i], false ); }
int counter = 0;
bool leftActive = false;
bool rightActive = false;
for( int i = 0; i< contours.size(); i++ )
{
cv::Scalar color( 255, 0, 255);
if (cv::contourArea(hull[i]) > 600) {
cv::drawContours( orig, hull, i, color, 1, 8, std::vector<cv::Vec4i>(), 0, cv::Point() );
counter++;
}
}
left.ProcessHulls(hull);
right.ProcessHulls(hull);
std::string text = "VOTE";
cv::Size txtSz = cv::getTextSize(text, cv::FONT_HERSHEY_DUPLEX, 4, 4, NULL);
//cv::putText(orig, text, cv::Point(orig.size().width / 2 - txtSz.width /2, orig.size().height - 2* txtSz.height), cv::FONT_HERSHEY_PLAIN, 7, cv::Scalar(0, 255, 255), 4);
vote.copyTo(orig(cv::Rect((rightOrigin.x + leftOrigin.x)/2, (rightOrigin.y + leftOrigin.y)/2, vote.size().width, vote.size().height)));
if (!(left.IsActive() && right.IsActive())) {
char buff[11];
sprintf(buff, "%02d", left.GetCount());
cv::putText(orig, buff, cv::Point(40, orig.size().height - 40), cv::FONT_HERSHEY_PLAIN, 4, cv::Scalar(0, 255, 0), 4);
sprintf(buff, "%02d", right.GetCount());
cv::Size txtSz = cv::getTextSize(buff, cv::FONT_HERSHEY_PLAIN, 4, 4, NULL);
cv::putText(orig, buff, cv::Point(orig.size().width - txtSz.width - 40, orig.size().height - 40), cv::FONT_HERSHEY_PLAIN, 4, cv::Scalar(0, 255, 0), 4);
left.Draw(orig);
right.Draw(orig);
if (right.IsCounted()) {
yesc.copyTo(orig(cv::Rect(rightOrigin.x, rightOrigin.y, yesc.size().width, yesc.size().height)));
}
else {
yesbw.copyTo(orig(cv::Rect(rightOrigin.x, rightOrigin.y, yesbw.size().width, yesbw.size().height)));
}
if (left.IsCounted()) {
noc.copyTo(orig(cv::Rect(leftOrigin.x, leftOrigin.y, noc.size().width, noc.size().height)));
}
else {
nobw.copyTo(orig(cv::Rect(leftOrigin.x, leftOrigin.y, nobw.size().width, nobw.size().height)));
}
int totalVotes = right.GetCount() + left.GetCount();
std::string out = "FotosVote/votacao" + std::to_string(totalVotes) + ".png";
imwrite(out, orig);
}
else {
left.Deactivate();
right.Deactivate();
/* std::string text = "Fraude!";
cv::Size txtSz = cv::getTextSize(text, cv::FONT_HERSHEY_PLAIN, 4, 4, NULL);
cv::putText(orig, text, cv::Point(orig.size().width / 2 - txtSz.width / 2, orig.size().height /2), cv::FONT_HERSHEY_PLAIN, 4, cv::Scalar(0, 0, 255), 4);*/
}
}
else {
if ((time(NULL) - camAdaptationStartTime) > ADAPTATION_TIME_SEC) {
camAdapted = true;
bgsub = cv::createBackgroundSubtractorMOG2();
DisableCameraAutoAdjust(GetVideoNum(argc, argv));
}
else {
std::string text = "Configurando...";
cv::Size txtSz = cv::getTextSize(text, cv::FONT_HERSHEY_PLAIN, 4, 4, NULL);
cv::putText(orig, text, cv::Point(orig.size().width / 2 - txtSz.width / 2, orig.size().height /2 - 2* txtSz.height), cv::FONT_HERSHEY_PLAIN, 4, cv::Scalar(0, 0, 255), 4);
char buff[3];
sprintf(buff, "%d", ADAPTATION_TIME_SEC - abs(time(NULL) - camAdaptationStartTime));
txtSz = cv::getTextSize(buff, cv::FONT_HERSHEY_PLAIN, 4, 4, NULL);
cv::putText(orig, buff, cv::Point(orig.size().width / 2 - txtSz.width / 2, orig.size().height /2 ), cv::FONT_HERSHEY_PLAIN, 4, cv::Scalar(0, 0, 255), 4);
}
}
imshow("Contador de Votos", orig);
int key = cv::waitKey(30);
if ((key & 0xFF) == 27) {
exit(0);
}
else if ((key & 0xFF) == ' '){
camAdapted = false;
EnableCameraAutoAdjust(GetVideoNum(argc, argv));
camAdaptationStartTime = time(NULL);
}
else if ((key & 0xFF) == 'c') {
imwrite("out.png", orig);
system("python sendmail.py");
}
}
return 0;
}
void SubmitConstraints (dFloat timestep, int threadIndex)
{
dFloat den;
dFloat relAccel;
dFloat jacobian0[6];
dFloat jacobian1[6];
dMatrix leftMatrix;
dMatrix rightMatrix;
dMatrix chassisMatrix;
NewtonBodyGetMatrix (m_chassis, &chassisMatrix[0][0]);
NewtonBodyGetMatrix (m_leftTire->GetBody1(), &leftMatrix[0][0]);
NewtonBodyGetMatrix (m_rightTire->GetBody1(), &rightMatrix[0][0]);
// calculate the geometrical turn radius of for this axle
dVector leftOrigin (chassisMatrix.UntransformVector(leftMatrix.m_posit));
dVector rightOrigin (chassisMatrix.UntransformVector(rightMatrix.m_posit));
dVector axleCenter ((rightOrigin + leftOrigin).Scale (0.5f));
dVector tireAxisDir (chassisMatrix.UnrotateVector((leftMatrix.m_front + rightMatrix.m_front).Scale (0.5f)));
axleCenter.m_y = 0.0f;
tireAxisDir.m_y = 0.0f;
dVector sideDir (0.0f, 0.0f, 1.0f, 0.0f);
dVector deltaDir (tireAxisDir - sideDir);
relAccel = 0.0f;
den = deltaDir % deltaDir;
if (den > 1.0e-6f) {
dFloat R;
dFloat num;
dFloat ratio;
dFloat wl;
dFloat wr;
dFloat rl;
dFloat rr;
dFloat relOmega;
num = axleCenter % deltaDir;
R = - num / den;
rr = (rightOrigin % sideDir);
rl = (leftOrigin % sideDir);
ratio = (R + rr) / (R + rl);
dVector omegaLeft;
dVector omegaRight;
// calculate the angular velocity for both bodies
NewtonBodyGetOmega(m_leftTire->GetBody1(), &omegaLeft[0]);
NewtonBodyGetOmega(m_rightTire->GetBody1(), &omegaRight[0]);
// get angular velocity relative to the pin vector
wl = -(omegaLeft % leftMatrix.m_front);
wr = omegaRight % rightMatrix.m_front;
// establish the gear equation.
relOmega = wl + ratio * wr;
relAccel = - 0.5f * relOmega / timestep;
}
jacobian0[0] = 0.0f;
jacobian0[1] = 0.0f;
jacobian0[2] = 0.0f;
jacobian0[3] = leftMatrix.m_front.m_x * -1.0f;
jacobian0[4] = leftMatrix.m_front.m_y * -1.0f;
jacobian0[5] = leftMatrix.m_front.m_z * -1.0f;
jacobian1[0] = 0.0f;
jacobian1[1] = 0.0f;
jacobian1[2] = 0.0f;
jacobian1[3] = rightMatrix.m_front.m_x;
jacobian1[4] = rightMatrix.m_front.m_y;
jacobian1[5] = rightMatrix.m_front.m_z;
NewtonUserJointAddGeneralRow (m_joint, jacobian0, jacobian1);
NewtonUserJointSetRowAcceleration (m_joint, relAccel);
NewtonUserJointSetRowMaximumFriction(m_joint, m_maxfriction);
NewtonUserJointSetRowMinimumFriction(m_joint, -m_maxfriction);
}
