void
Board::fillGouraudTriangle( const Point & p1,
const float brightness1,
const Point & p2,
const float brightness2,
const Point & p3,
const float brightness3,
unsigned char divisions,
int depth /* = -1 */ )
{
Color color1( _state.penColor );
Color color2( _state.penColor );
Color color3( _state.penColor );
color1.red( static_cast<unsigned char>( std::min( 255.0f, color1.red() * brightness1 ) ) );
color1.green( static_cast<unsigned char>( std::min( 255.0f, color1.green() * brightness1 ) ) );
color1.blue( static_cast<unsigned char>( std::min( 255.0f, color1.blue() * brightness1 ) ) );
color2.red( static_cast<unsigned char>( std::min( 255.0f, color2.red() * brightness2 ) ) );
color2.green( static_cast<unsigned char>( std::min( 255.0f, color2.green() * brightness2 ) ) );
color2.blue( static_cast<unsigned char>( std::min( 255.0f, color2.blue() * brightness2 ) ) );
color3.red( static_cast<unsigned char>( std::min( 255.0f, color3.red() * brightness3 ) ) );
color3.green( static_cast<unsigned char>( std::min( 255.0f, color3.green() * brightness3 ) ) );
color3.blue( static_cast<unsigned char>( std::min( 255.0f, color3.blue() * brightness3 ) ) );
fillGouraudTriangle( Point( _state.unit(p1.x), _state.unit(p1.y) ), color1,
Point( _state.unit(p2.x), _state.unit(p2.y) ), color2,
Point( _state.unit(p3.x), _state.unit(p3.y) ), color3,
divisions,
depth );
}
void TriMeshModel::addTriangleWithFace(Eigen::Vector3f& vertex1, Eigen::Vector3f& vertex2, Eigen::Vector3f& vertex3, Eigen::Vector4f& vertexColor1, Eigen::Vector4f& vertexColor2, Eigen::Vector4f& vertexColor3)
{
Eigen::Vector3f normal = TriMeshModel::CreateNormal(vertex1, vertex2, vertex3);
VisualizationFactory::Color color1(vertexColor1(0), vertexColor1(1), vertexColor1(2), vertexColor1(4));
VisualizationFactory::Color color2(vertexColor2(0), vertexColor2(1), vertexColor2(2), vertexColor2(4));
VisualizationFactory::Color color3(vertexColor3(0), vertexColor3(1), vertexColor3(2), vertexColor3(4));
addTriangleWithFace(vertex1, vertex2, vertex3, normal, color1, color2, color3);
}
void v4coloru_object::test<17>()
{
F32 r = 23.f, g = 12.32f, b = -12.3f;
LLColor3 color3(r,g,b);
LLColor4U llcolor4u;
llcolor4u.setVecScaleClamp(color3);
const S32 MAX_COLOR = 255;
F32 color_scale_factor = MAX_COLOR/r;
S32 r2 = llround(r * color_scale_factor);
S32 g2 = llround(g * color_scale_factor);
ensure("setVecScaleClamp():Fail to add the value ", ((r2 == llcolor4u.mV[VX]) && (g2 == llcolor4u.mV[VY]) && (0 == llcolor4u.mV[VZ])&& (255 == llcolor4u.mV[VW])));
}
void Jogo::encerramento()
{
gui.musicaFundo.stop();
gui.success.play();
sf::Color color1(255,255,255,255);
sf::Color color2(100,100,100,255);
sf::Color color3(255,0,0,255);
while(gui.tela.isOpen())
{
gui.limpaTela();
gui.desenhaFundo(this->level);
gui.desenhaTexto("Você venceu!", 60, color1, gui.getWidth()/2, gui.getHeigth()/1.8, true);
gui.desenhaTexto("Tempo: " + to_string(antesVirgula) + "." + to_string(depoisVirgula), 40, color3, gui.getWidth()/2, gui.getHeigth()/1.23, true);
gui.desenhaTexto("ESPAÇO - Jogar novamente", 25, color2, gui.getWidth()/20, gui.getHeigth()/1.3, false);
gui.desenhaTexto("ESC - Encerrar o jogo", 25, color2, gui.getWidth()/20, gui.getHeigth()/1.2, false);
sf::Event evento;
while (gui.tela.pollEvent(evento))
{
switch(evento.type)
{
case(sf::Event::Closed):
gui.tela.close();
break;
case(sf::Event::KeyPressed):
{
if(evento.key.code == sf::Keyboard::Escape)
{
gui.tela.close();
}
else if(evento.key.code == sf::Keyboard::Space)
{
this->level = 0;
for(int i = 0; i < 5; i++)
this->lixeiras[i].zera();
run();
}
break;
}
default:
break;
}
}
gui.renderiza();
}
}
// 绘制羽化文字
void DrawEclosionText(HDC hDC, LPCTSTR lpszText, LPCTSTR lpszFontName, int nFontSize)
{
int nWidth = 56, nHeight = 16;
Gdiplus::Bitmap bmp(nWidth, nHeight, 0, PixelFormat32bppARGB, NULL);
Gdiplus::Graphics graphics(&bmp);
Gdiplus::GraphicsPath path(Gdiplus::FillModeAlternate);
Gdiplus::FontFamily fontFamily(lpszFontName, NULL);
Gdiplus::StringFormat strFmt(0, 0);
Gdiplus::RectF rc(0.0f, 0.0f, nWidth, nHeight);
path.AddString(lpszText, -1, &fontFamily, Gdiplus::FontStyleBold, nFontSize, rc, &strFmt);
Gdiplus::Matrix matrix(1.0f/* / 5.0f*/, 0.0f, 0.0f, 1.0f/* / 5.0f*/, -1.0f/* / 5.0f*/, -1.0f/* / 5.0f*/);
graphics.SetSmoothingMode(Gdiplus::SmoothingModeAntiAlias);
graphics.SetTransform(&matrix);
Gdiplus::Color color((Gdiplus::ARGB)0x55CCE0EE);
Gdiplus::Pen pen(color, 3);
graphics.DrawPath(&pen, &path);
Gdiplus::Color color2((Gdiplus::ARGB)0x55CCE0EE);
Gdiplus::SolidBrush brush(color2);
graphics.FillPath(&brush, &path);
Gdiplus::Bitmap bmp2(300, 40, 0, PixelFormat32bppARGB, NULL);
Gdiplus::Graphics graphics2(&bmp2);
graphics2.SetSmoothingMode(Gdiplus::SmoothingModeAntiAlias);
graphics2.SetInterpolationMode(Gdiplus::InterpolationModeHighQualityBicubic);
graphics2.DrawImage(&bmp, 0, 0, nWidth, nHeight);
Gdiplus::Color color3((Gdiplus::ARGB)0xFF000000);
Gdiplus::SolidBrush brush2(color3);
graphics2.FillPath(&brush2, &path);
CLSID clsid;
::CLSIDFromString(_T("{557CF406-1A04-11D3-9A73-0000F81EF32E}"), &clsid);
bmp2.Save(_T("c:\\CoolText.png"), &clsid, NULL);
Gdiplus::Graphics graphics3(hDC);
graphics3.DrawImage(&bmp2, 8, 4);
}
void ColorTest::configuration() {
Corrade::Utility::Configuration c;
Color3f color3(0.5f, 0.75f, 1.0f);
std::string value3("0.5 0.75 1");
c.setValue("color3", color3);
CORRADE_COMPARE(c.value("color3"), value3);
CORRADE_COMPARE(c.value<Color3f>("color3"), color3);
Color4f color4(0.5f, 0.75f, 0.0f, 1.0f);
std::string value4("0.5 0.75 0 1");
c.setValue("color4", color4);
CORRADE_COMPARE(c.value("color4"), value4);
CORRADE_COMPARE(c.value<Color4f>("color4"), color4);
}
QVector<QPair<QColor, int> > *MainWindow::makeColors() {
QVector<QPair<QColor, int> > *colors = new QVector<QPair<QColor, int > >();
QColor color1(128,0,0);
QColor color2(255,0,0);
QColor color3(0,128,0);
QColor color4(0,255,0);
QColor color5(0,0,128);
QColor color6(0,0,255);
colors->push_back(QPair<QColor, int>(color1, 2));
colors->push_back(QPair<QColor, int>(color2, 2));
colors->push_back(QPair<QColor, int>(color3, 2));
colors->push_back(QPair<QColor, int>(color4, 2));
colors->push_back(QPair<QColor, int>(color5, 2));
colors->push_back(QPair<QColor, int>(color6, 2));
return colors;
}
// Blinn Phong specular
color3 Ray::specularColor(Light light, Material material, Fragment fragment) const
{
vec3 lightDir = normalize( light.position - fragment.position);
vec3 viewDir = -direction;
//vec3 r = 2 * (dot(lightDir, fragment.normal))*fragment.normal - lightDir;
vec3 halfVector = normalize(lightDir + viewDir);
color3 specular;
// if self shadow, specular = 0.0
if (dot(lightDir, fragment.normal) < 0.0) {
specular = color3(0.0);
}
else {
// specular = Is * ks * cosPhi^alpha
float specularShine = pow(max(dot(fragment.normal, halfVector), 0.0f), material.shininess); // Blinn Phong specular
//specularShine = pow(max(dot(r, viewDir), 0.0), material.shininess); // original Phong specular
specular = light.specular * material.ks * specularShine;
}
return specular;
}
void MainWindow::createActions()
{
openAct = new QAction("&Open", this);
connect(openAct, SIGNAL(triggered()), this, SLOT(openAndReadFile()));
exitAct = new QAction("E&xit", this);
connect(exitAct, SIGNAL(triggered()), this, SLOT(close()));
aboutAct = new QAction("&About", this);
connect(aboutAct, SIGNAL(triggered()), this, SLOT(about()));
statAct = new QAction("&Stat", this);
connect(statAct, SIGNAL(triggered()), this, SLOT(showStat()));
resetAct = new QAction("&Reset position", this);
resetAct->setStatusTip("Reset the position");
connect(resetAct, SIGNAL(triggered()), this, SLOT(reset()));
reseteffectAct = new QAction("&Reset", this);
reseteffectAct->setStatusTip("Reset all material");
connect(reseteffectAct, SIGNAL(triggered()), this, SLOT(reseteffect()));
//ANIMATION-----------------------------------------------------
animationShownAct = new QAction("&Shown", this);
animationShownAct->setStatusTip("Show animation");
animationShownAct->setCheckable(true);
connect(animationShownAct, SIGNAL(triggered()), this, SLOT(showAnimation()));
animationHiddenAct = new QAction("&Hidden", this);
animationHiddenAct->setStatusTip("Hide animation");
animationHiddenAct->setCheckable(true);
connect(animationHiddenAct, SIGNAL(triggered()), this, SLOT(hideAnimation()));
animationGroup = new QActionGroup(this);
animationGroup->addAction(animationShownAct);
animationGroup->addAction(animationHiddenAct);
animationHiddenAct->setChecked(true);
//COLOR-----------------------------------------------------
color0Act = new QAction("&No light",this);
color0Act->setStatusTip("No light");
color0Act->setCheckable(true);
connect(color0Act, SIGNAL(triggered()), this, SLOT(color0()));
color1Act = new QAction("&Red",this);
color1Act->setStatusTip("Red");
color1Act->setCheckable(true);
connect(color1Act, SIGNAL(triggered()), this, SLOT(color1()));
color2Act = new QAction("&Green",this);
color2Act->setStatusTip("Green");
color2Act->setCheckable(true);
connect(color2Act, SIGNAL(triggered()), this, SLOT(color2()));
color3Act = new QAction("&Blue",this);
color3Act->setStatusTip("Blue");
color3Act->setCheckable(true);
connect(color3Act, SIGNAL(triggered()), this, SLOT(color3()));
color10Act = new QAction("&White",this);
color10Act->setStatusTip("White");
color10Act->setCheckable(true);
connect(color10Act, SIGNAL(triggered()), this, SLOT(color10()));
colorGroup = new QActionGroup(this);
colorGroup->addAction(color0Act);
colorGroup->addAction(color1Act);
colorGroup->addAction(color2Act);
colorGroup->addAction(color3Act);
colorGroup->addAction(color10Act);
color10Act->setChecked(true);
//EFFECT-----------------------------------------------------
effect0Act = new QAction("&No effect",this);
effect0Act->setStatusTip("No effect");
effect0Act->setCheckable(true);
connect(effect0Act, SIGNAL(triggered()), this, SLOT(effect0()));
effect1Act = new QAction("&Ambient",this);
effect1Act->setStatusTip("Ambient");
effect1Act->setCheckable(true);
connect(effect1Act, SIGNAL(triggered()), this, SLOT(effect1()));
effect2Act = new QAction("&Diffuse",this);
effect2Act->setStatusTip("Diffuse");
effect2Act->setCheckable(true);
connect(effect2Act, SIGNAL(triggered()), this, SLOT(effect2()));
effect10Act = new QAction("&All",this);
effect10Act->setStatusTip("All effect");
effect10Act->setCheckable(true);
connect(effect10Act, SIGNAL(triggered()), this, SLOT(effect10()));
effectGroup = new QActionGroup(this);
effectGroup->addAction(effect0Act);
effectGroup->addAction(effect1Act);
effectGroup->addAction(effect2Act);
effectGroup->addAction(effect10Act);
effect10Act->setChecked(true);
//AMBIENT-----------------------------------------------------
ambient0Act = new QAction("&No Ambient",this);
ambient0Act->setStatusTip("No Ambient");
ambient0Act->setCheckable(true);
connect(ambient0Act, SIGNAL(triggered()), this, SLOT(ambient0()));
ambient1Act = new QAction("&Ambient",this);
ambient1Act->setStatusTip("Ambient");
ambient1Act->setCheckable(true);
connect(ambient1Act, SIGNAL(triggered()), this, SLOT(ambient1()));
ambient2Act = new QAction("&Ambient Color",this);
ambient2Act->setStatusTip("Ambient Color");
ambient2Act->setCheckable(true);
connect(ambient2Act, SIGNAL(triggered()), this, SLOT(ambient2()));
ambientGroup = new QActionGroup(this);
ambientGroup->addAction(ambient0Act);
ambientGroup->addAction(ambient1Act);
ambientGroup->addAction(ambient2Act);
ambient0Act->setChecked(true);
//DIFFUSE-----------------------------------------------------
diffuse0Act = new QAction("&No Diffuse",this);
diffuse0Act->setStatusTip("No Diffuse");
diffuse0Act->setCheckable(true);
connect(diffuse0Act, SIGNAL(triggered()), this, SLOT(diffuse0()));
diffuse1Act = new QAction("&Diffuse",this);
diffuse1Act->setStatusTip("Diffuse");
diffuse1Act->setCheckable(true);
connect(diffuse1Act, SIGNAL(triggered()), this, SLOT(diffuse1()));
diffuseGroup = new QActionGroup(this);
diffuseGroup->addAction(diffuse0Act);
diffuseGroup->addAction(diffuse1Act);
diffuse0Act->setChecked(true);
//SPECULAR-----------------------------------------------------
specular0Act = new QAction("&No Specular",this);
specular0Act->setStatusTip("No Specular");
specular0Act->setCheckable(true);
connect(specular0Act, SIGNAL(triggered()), this, SLOT(specular0()));
specular1Act = new QAction("&Specular",this);
specular1Act->setStatusTip("Specular");
specular1Act->setCheckable(true);
connect(specular1Act, SIGNAL(triggered()), this, SLOT(specular1()));
specularGroup = new QActionGroup(this);
specularGroup->addAction(specular0Act);
specularGroup->addAction(specular1Act);
specular0Act->setChecked(true);
//SPECULAR-----------------------------------------------------
shininess0Act = new QAction("&No Shininess",this);
shininess0Act->setStatusTip("No Shininess");
shininess0Act->setCheckable(true);
connect(shininess0Act, SIGNAL(triggered()), this, SLOT(shininess0()));
shininess1Act = new QAction("&Low Shininess",this);
shininess1Act->setStatusTip("Low Shininess");
shininess1Act->setCheckable(true);
connect(shininess1Act, SIGNAL(triggered()), this, SLOT(shininess1()));
shininess2Act = new QAction("&High Shininess",this);
shininess2Act->setStatusTip("High Shininess");
shininess2Act->setCheckable(true);
connect(shininess2Act, SIGNAL(triggered()), this, SLOT(shininess2()));
shininessGroup = new QActionGroup(this);
shininessGroup->addAction(shininess0Act);
shininessGroup->addAction(shininess1Act);
shininessGroup->addAction(shininess2Act);
shininess0Act->setChecked(true);
//EMISSION-----------------------------------------------------
emission0Act = new QAction("&No Emission",this);
emission0Act->setStatusTip("No Emission");
emission0Act->setCheckable(true);
connect(emission0Act, SIGNAL(triggered()), this, SLOT(emission0()));
emission1Act = new QAction("&Emission",this);
emission1Act->setStatusTip("eEmission");
emission1Act->setCheckable(true);
connect(emission1Act, SIGNAL(triggered()), this, SLOT(emission1()));
emissionGroup = new QActionGroup(this);
emissionGroup->addAction(emission0Act);
emissionGroup->addAction(emission1Act);
emission0Act->setChecked(true);
//SHADING-------------------------------------------------
shading0Act = new QAction("&No shading", this);
shading0Act->setStatusTip("No shading");
shading0Act->setCheckable(true);
connect(shading0Act, SIGNAL(triggered()), this, SLOT(shading0()));
shading1Act = new QAction("&Flat shading", this);
shading1Act->setStatusTip("Flat shading");
shading1Act->setCheckable(true);
connect(shading1Act, SIGNAL(triggered()), this, SLOT(shading1()));
shading2Act = new QAction("&Smooth shading", this);
shading2Act->setStatusTip("Smooth shading");
shading2Act->setCheckable(true);
connect(shading2Act, SIGNAL(triggered()), this, SLOT(shading2()));
shadingGroup = new QActionGroup(this);
shadingGroup->addAction(shading0Act);
shadingGroup->addAction(shading1Act);
shadingGroup->addAction(shading2Act);
shading0Act->setChecked(true);
//NORMAL----------------------------------------------------
normal0Act = new QAction("&No normal",this);
normal0Act->setStatusTip("No normal");
normal0Act->setCheckable(true);
connect(normal0Act, SIGNAL(triggered()), this, SLOT(normal0()));
normal1Act = new QAction("&normal",this);
normal1Act->setStatusTip("Has normal");
normal1Act->setCheckable(true);
connect(normal1Act, SIGNAL(triggered()), this, SLOT(normal1()));
normalGroup = new QActionGroup(this);
normalGroup->addAction(normal0Act);
normalGroup->addAction(normal1Act);
normal0Act->setChecked(true);
}
int main(int argc, const char * argv[]) {
// ========= Declare and initialize variables ==========
BikeShed bike_shed;
Color color1(4.5, 6.0 ,7.0);
Color color2(0.0, 0.0, 3.0);
Color color3(0.0, 8.4 ,0.0);
Bike john_bike("John", color1);
Bike jane_bike("Jane", color1);
Bike sean_bike("Sean", color2);
Bike andrea_bike("Andrea", color2);
Bike peter_bike("Peter", color3);
Bike mohammed_bike("Mohammed", color3);
Bike hong_bike("Hong", color3);
// ========= END Declare and initialize variables ==========
// ========= Set the bike values of each person ==========
john_bike.setBell(true);
john_bike.setReflector(true);
john_bike.setNLight(1);
jane_bike.setBell(true);
jane_bike.setNLight(2);
sean_bike.setBell(true);
sean_bike.setReflector(true);
sean_bike.setNLight(7);
andrea_bike.setBell(true);
peter_bike.setBell(true);
peter_bike.setReflector(true);
mohammed_bike.setBell(true);
mohammed_bike.setReflector(true);
mohammed_bike.setNLight(3);
hong_bike.setReflector(true);
hong_bike.setNLight(20);
// ========= END Set the bike values of each person ==========
// ========= Performing different checks on the bikes ==========
bike_shed.park(john_bike);
std::cout << "Bikes in shed after John parks:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
bike_shed.park(jane_bike);
std::cout << "Bikes in shed after Jane parks:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
bike_shed.park(sean_bike);
std::cout << "Bikes in shed after Sean parks:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
bike_shed.park(andrea_bike);
std::cout << "Bikes in shed after Andrea parks:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
bike_shed.park(peter_bike);
std::cout << "Bikes in shed after Peter parks:" << "\n\n";
bike_shed.print();
std::cout << "\n= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
std::cout << "Illegal bikes:" << "\n\n";
bike_shed.checkLegal();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
std::cout << "Removing bikes:" << "\n\n";
bike_shed.remove("Peter", 1).print();
std::cout << "Bikes in shed after Peter's bike is removed:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
bike_shed.remove("John", 1).print();
std::cout << "Bikes in shed after John's bike is removed:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
bike_shed.remove("Andrea", 1).print();
std::cout << "Bikes in shed after Andrea's bike is removed:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
bike_shed.park(mohammed_bike);
std::cout << "Bikes in shed after Mohammed parks:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
bike_shed.park(hong_bike);
std::cout << "Bikes in shed after Hong parks:" << "\n\n";
bike_shed.print();
std::cout << "= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =" << "\n\n";
std::cout << "Remaining bikes:" << "\n\n";
bike_shed.print();
std::cout << "\n";
// ========= END Performing different checks on the bikes ==========
return 0;
}
void Check_Copter(Copter& copter)
{
bool Flag_1 = false;
bool Flag_2 = false;
Mat YUV;
Mat color1(copter.height , copter.width , CV_8UC1);
Mat color2(copter.height , copter.width , CV_8UC1);
Mat color3(copter.height , copter.width , CV_8UC1);
Mat color1_2(copter.height , copter.width , CV_8UC1);
Mat color1_3(copter.height , copter.width , CV_8UC1);
Mat color2_2(copter.height , copter.width , CV_8UC1);
Mat color2_3(copter.height , copter.width , CV_8UC1);
Mat Temp_roi;
vector<vector<Point> > contours1;
vector<vector<Point> > contours2;
vector<vector<Point> > contours3;
vector<Vec4i> hierarchy1;
vector<Vec4i> hierarchy2;
vector<Vec4i> hierarchy3;
Rect copter_box1;
Rect copter_box2;
Rect copter_box3;
Rect copter_box4;
int max_contour1=0;
int max_contour2=0;
int max_contour3=0;
int min_num1 =0x7fffff;
int min_num2 =0x7fffff;
int min_num3 =0x7fffff;
int x1, x2, y1, y2;
int min_diff =0x7fffff;
int min_diff2 =0x7fffff;
pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
double start,end,t1;
pthread_mutex_lock(&mutex);
cvtColor(copter.Copter_Layer,YUV,CV_RGB2YCrCb);
pthread_mutex_unlock(&mutex);
vector<Mat> yuv;
split(YUV,yuv);
// start=(double)cvGetTickCount();
threshold(yuv[0],yuv[0],copter.Y_MAX,255,THRESH_TOZERO_INV);
threshold(yuv[0],(color1),copter.Y_MIN,255,THRESH_BINARY);
threshold(yuv[1],yuv[1],copter.Cb_MAX,255,THRESH_TOZERO_INV);
threshold(yuv[1],(color1_2),copter.Cb_MIN,255,THRESH_BINARY);
threshold(yuv[2],yuv[2],copter.Cr_MAX,255,THRESH_TOZERO_INV);
threshold(yuv[2],(color1_3),copter.Cr_MIN,255,THRESH_BINARY);
bitwise_and(color1,color1_2,color1_2);
bitwise_and(color1_2,color1_3,color1);
split(YUV,yuv);
threshold(yuv[0],yuv[0],copter.Y_MAX2,255,THRESH_TOZERO_INV);
threshold(yuv[0],(color2),copter.Y_MIN2,255,THRESH_BINARY);
threshold(yuv[1],yuv[1],copter.Cb_MAX2,255,THRESH_TOZERO_INV);
threshold(yuv[1],(color2_2),copter.Cb_MIN2,255,THRESH_BINARY);
threshold(yuv[2],yuv[2],copter.Cr_MAX2,255,THRESH_TOZERO_INV);
threshold(yuv[2],(color2_3),copter.Cr_MIN2,255,THRESH_BINARY);
bitwise_and(color2,color2_2,color2_2);
bitwise_and(color2_2,color2_3,color3);
// end=(double)cvGetTickCount();
// t1 = (end-start)/((double)cvGetTickFrequency()*1000.);
// printf("Threshold : %g ms\n",t1);
#if DEBUG
start=(double)cvGetTickCount();
#endif
findContours(color1, contours1, hierarchy1, RETR_CCOMP, CHAIN_APPROX_TC89_KCOS);
if(contours1.size() == 0 ) { cout <<copter.number <<": no color1 ! " << endl;
}
for(size_t idx = 0; idx < contours1.size(); idx++)
{
drawContours(color1,contours1,idx,Scalar(255,255,255),CV_FILLED,8);
}
bitwise_and(color1,color3,color2);
findContours(color2, contours2,hierarchy2, RETR_CCOMP, CHAIN_APPROX_TC89_KCOS);
if(contours2.size() == 0 ) { cout <<copter.number << ": no color2 ! " << endl;
}
#if DEBUG
end=(double)cvGetTickCount();
t1 = (end-start)/((double)cvGetTickFrequency()*1000.);
printf("findcountours : %g ms\n",t1);
start=(double)cvGetTickCount();
#endif
for(int m=0; m<contours1.size(); m++)
{
for(int n=0; n<contours2.size(); n++)
{//
copter_box1 = boundingRect(contours1[m]);
copter_box2 = boundingRect(contours2[n]);
Point box2_center = Point(copter_box2.x+(copter_box2.width/2),copter_box2.y+(copter_box2.height/2));
if(box2_center.x >=copter_box1.x-copter_box1.width && box2_center.x <= copter_box1.x+copter_box1.width*2 && box2_center.y >=copter_box1.y-copter_box1.height && box2_center.y <=copter_box1.y+(copter_box1.height)*2)
{
int diff = abs(copter_box2.x+(copter_box2.width/2) - copter_box1.x+(copter_box1.width/2)) + abs(copter_box2.y+(copter_box2.height/2) - copter_box1.y+(copter_box1.height/2));
if(diff < min_diff){
min_diff = diff;
min_num1 = m;
min_num2 = n;
}
}
}//
}
absdiff(color3,color2,color3);
findContours(color3, contours3, hierarchy3, RETR_CCOMP, CHAIN_APPROX_TC89_KCOS);
if(contours1.size()>0 && contours3.size()>0 && min_num1 < contours1.size())
{
copter_box4 = boundingRect(contours1[min_num1]);
int centerof_box4_x = copter_box4.x + (copter_box4.width/2);
int centerof_box4_y = copter_box4.y + (copter_box4.height/2);
int centerof_box3_x=0;
int centerof_box3_y=0;
for(int t=0; t<contours3.size(); t++)
{
bool check_exception=true;
copter_box3 = boundingRect(contours3[t]);
centerof_box3_x = copter_box3.x + (copter_box3.width/2);
centerof_box3_y = copter_box3.y + (copter_box3.height/2);
if(centerof_box3_x >= copter_box4.x && centerof_box3_x <= copter_box4.x+copter_box4.width && centerof_box3_y >= copter_box4.y && centerof_box3_y <= copter_box4.y+copter_box4.height)
{
check_exception = false;
}
if(check_exception && contours3[t].size() < contours1[min_num1].size() && t != min_num2 )
{
int diff = abs(centerof_box4_x - centerof_box3_x) + abs(centerof_box4_y - centerof_box3_y);
if(diff<min_diff2){
min_diff2 = diff;
min_num3 = t;
}
}
}
if(min_num3 <contours3.size())
{
copter_box3 = boundingRect(contours3[min_num3]);
copter.Head_vector = Return_HeadWay(copter_box3, copter_box4);
}
}
#if DEBUG
cout << "Copter.Head_Vector : " << copter.Head_vector << endl;
#endif
#if DEBUG
end=(double)cvGetTickCount();
t1 = (end-start)/((double)cvGetTickFrequency()*1000.);
printf("for loop : %g ms\n",t1);
start =(double)cvGetTickCount();
#endif
if(min_diff > 10000) {
copter.not_found_count++;
switch(copter.vector)
{
case 1 : copter.width += (copter.width>>1);
//cout << copter.number << " : 1 " << endl;
break;
case 2 : copter.width += (copter.width>>1);
copter.y -= (copter.height>>1);
copter.height += (copter.height>>1);
//cout << copter.number << " : 2 " << endl;
break;
case 3 : copter.y -= (copter.height>>1);
copter.height += (copter.height>>1);
//cout << copter.number << " : 3 "<< endl;
break;
case 4 : copter.x -= (copter.width>>1);
copter.width +=(copter.width>>1);
copter.y -= (copter.height>>1);
copter.height += (copter.height>>1);
//cout << copter.number << " : 4 "<< endl;
break;
case 5 : copter.x -= (copter.width>>1);
copter.width += (copter.width>>1);
//cout << copter.number << " : 5 "<< endl;
break;
case 6 : copter.x -= (copter.width>>1);
copter.width += (copter.width>>1);
copter.height += (copter.height>>1);
//cout << copter.number << " : 6 "<< endl;
break;
case 7 : copter.height += (copter.height>>1);
//cout << copter.number << " : 7 "<< endl;
break;
case 8 : copter.height += (copter.height>>1);
copter.width += (copter.width>>1);
//cout << copter.number << " : 8 "<< endl;
break;
default : break;
}
Reposition_minus(copter);
if(copter.not_found_count >=FIND_THRESHOLD)
{
copter.not_found_count = 0 ;
copter.Flag = false;
}
return;
}//확인요망
//--------------------------------------------------------------------------------------------------
///
//--------------------------------------------------------------------------------------------------
Color4ub::Color4ub(Color3::ColorIdent colorIdent)
{
Color3ub color3(colorIdent);
set(color3.r(), color3.g(), color3.b(), 255);
}
/** The ColorMap constructor defines many hardcoded RGB values that are used during segmentation. The most important of these with respect to inputs
* are the STEM_COLOR, BORDER_COLOR, UNSEGMENTED_COLOR. The remainders correspond to leaves. If a hand-segmented or machine learning segmented plant
* is provided and colors don't correspond to these values, behavior will likely be unexpected.
*/
ColorMap::ColorMap() {
TupleTriplet STEM_COLOR(0.0, 255.0, 255.0);
TupleTriplet BORDER_COLOR(80.0, 80.0, 80.0);
TupleTriplet UNSEGMENTED_COLOR(255.0, 255.0, 255.0);
TupleTriplet DEBUG_COLOR(255.0, 20.0, 147.0);
TupleTriplet INFLORESCENCE_COLOR(255.0, 215.0, 0.0); // gold
_stem_color = STEM_COLOR;
_border_color = BORDER_COLOR;
_unsegmented_color = UNSEGMENTED_COLOR;
_debug_color = DEBUG_COLOR;
_inflorescence_color = INFLORESCENCE_COLOR;
// We're emulating the ggplot2 colors.
// http://stackoverflow.com/questions/8197559/emulate-ggplot2-default-color-palette
// and converted the hex to rgb
TupleTriplet color1(248.0, 118.0, 109.0); //salmon-y #F8766D
TupleTriplet color2(183.0, 159.0, 0.0); //tan-y #B79F00
TupleTriplet color3(0.0, 186.0, 56.0); //green-y #00BA38
//TupleTriplet color4(0.0, 191.0, 196.0); //sea-green-y #00BFC4
TupleTriplet color4(0.0, 134.0, 125.0); //sea-green-y
TupleTriplet color5(97.0, 156.0, 255.0); // sky blue-y #619CFF
TupleTriplet color6(245.0, 100.0, 227.0); // pink-y #F564E3
TupleTriplet color7(229.0, 135.0, 0.0); //orange-y #E58700
TupleTriplet color8(185.0, 131.0, 255.0); // purple-y #B983FF
TupleTriplet color9(222.0, 42.0, 29.0); // red-ish
TupleTriplet color10(222.0, 29.0, 186.0);
TupleTriplet color11(103.0, 29.0, 222.0);
TupleTriplet color12(20.0, 42.0, 222.0);
/*
TupleTriplet color5(29.0, 135.0, 222.0);
TupleTriplet color6(29.0, 222.0, 96.0);
TupleTriplet color7(148.0, 222.0, 29.0);
TupleTriplet color8(222.0, 125.0, 29.0);
TupleTriplet color9(240.0, 178.0, 179.0);
TupleTriplet color10(176.0, 237.0, 161.0);
TupleTriplet color11(250.0, 250.0, 17.0);
TupleTriplet color12(247.0, 168.0, 229.0);
*/
//New colors added to account for manual segmentation
TupleTriplet color13(150.0, 150.0, 150.0);
TupleTriplet color14(0.0, 0.0, 255.0);
TupleTriplet color15(170.0, 170.0, 255.0);
TupleTriplet color16(255.0, 0.0, 0.0);
TupleTriplet color17(255.0, 0.0, 127.0);
TupleTriplet color18(0.0, 170.0, 0.0);
TupleTriplet color19(85.0, 170.0, 255.0);
TupleTriplet color20(255.0, 170.0, 0.0);
TupleTriplet color21(153.0, 102.0, 51.0);
TupleTriplet color22(255.0, 170.0, 255.0);
TupleTriplet color23(170.0, 255.0, 127.0);
TupleTriplet color24(255.0, 255.0, 127.0);
TupleTriplet color25(108.0, 108.0, 108.0);
TupleTriplet color26(237.0, 146.0, 15.0);
TupleTriplet color27(170.0, 255.0, 0.0);
_leafColorMap.insert(std::pair<int, TupleTriplet> (1, color1));
_leafColorMap.insert(std::pair<int, TupleTriplet> (2, color2));
_leafColorMap.insert(std::pair<int, TupleTriplet> (3, color3));
_leafColorMap.insert(std::pair<int, TupleTriplet> (4, color4));
_leafColorMap.insert(std::pair<int, TupleTriplet> (5, color5));
_leafColorMap.insert(std::pair<int, TupleTriplet> (6, color6));
_leafColorMap.insert(std::pair<int, TupleTriplet> (7, color7));
_leafColorMap.insert(std::pair<int, TupleTriplet> (8, color8));
_leafColorMap.insert(std::pair<int, TupleTriplet> (9, color9));
_leafColorMap.insert(std::pair<int, TupleTriplet> (10, color10));
_leafColorMap.insert(std::pair<int, TupleTriplet> (11, color11));
_leafColorMap.insert(std::pair<int, TupleTriplet> (12, color12));
_leafColorMap.insert(std::pair<int, TupleTriplet> (13, color13));
_leafColorMap.insert(std::pair<int, TupleTriplet> (14, color14));
_leafColorMap.insert(std::pair<int, TupleTriplet> (15, color15));
_leafColorMap.insert(std::pair<int, TupleTriplet> (16, color16));
_leafColorMap.insert(std::pair<int, TupleTriplet> (17, color17));
_leafColorMap.insert(std::pair<int, TupleTriplet> (18, color18));
_leafColorMap.insert(std::pair<int, TupleTriplet> (19, color19));
_leafColorMap.insert(std::pair<int, TupleTriplet> (20, color20));
_leafColorMap.insert(std::pair<int, TupleTriplet> (21, color21));
_leafColorMap.insert(std::pair<int, TupleTriplet> (22, color22));
_leafColorMap.insert(std::pair<int, TupleTriplet> (23, color23));
_leafColorMap.insert(std::pair<int, TupleTriplet> (24, color24));
_leafColorMap.insert(std::pair<int, TupleTriplet> (25, color25));
_leafColorMap.insert(std::pair<int, TupleTriplet> (26, color26));
_leafColorMap.insert(std::pair<int, TupleTriplet> (27, color27));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color1, 1));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color2, 2));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color3, 3));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color4, 4));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color5, 5));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color6, 6));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color7, 7));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color8, 8));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color9, 9));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color10, 10));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color11, 11));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color12, 12));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color13, 13));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color14, 14));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color15, 15));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color16, 16));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color17, 17));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color18, 18));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color19, 19));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color20, 20));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color21, 21));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color22, 22));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color23, 23));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color24, 24));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color25, 25));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color26, 26));
_leafColorMap_colorsToLabel.insert(std::pair<TupleTriplet, int> (color27, 27));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color1, 1));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color2, 2));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color3, 3));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color4, 4));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color5, 5));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color6, 6));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color7, 7));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color8, 8));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color9, 9));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color10, 10));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color11, 11));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color12, 12));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color13, 13));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color14, 14));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color15, 15));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color16, 16));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color17, 17));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color18, 18));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color19, 19));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color20, 20));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color21, 21));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color22, 22));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color23, 23));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color24, 24));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color25, 25));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color26, 26));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (color27, 27));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (STEM_COLOR, 28));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (BORDER_COLOR, 29));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (UNSEGMENTED_COLOR, 30));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (DEBUG_COLOR, 31));
_map_explicitlyHandledColors.insert(std::pair<TupleTriplet, int> (INFLORESCENCE_COLOR, 32));
}
