int main(int argc, char** argv) {
cout<<"start\n";
wiringPiSetupGpio();
pinMode(16,INPUT);
pullUpDnControl(16, PUD_UP);
pinMode(19,INPUT);
pullUpDnControl(19, PUD_UP);
int p1= digitalRead(19);
int p2= digitalRead(16);
Driver driver = Driver();
driver.scan();
Checkerboard cb = Checkerboard(driver.table);
RGB ledBoard[8][8];
driver.clear_led();
while(cb.canStart(driver) == false){
}
bool player1 = false;
bool player2 = false;
if(p1 == 1) player1=true;
if(p2 == 1) player2=true;
cout << "P1: " << player1 << endl;
cout << "P2: " << player2 << endl;
game checkers;
checkers.playTheGame(player1, player2, driver, cb);
return 0;
}
void Initialize() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glClearColor(0.0, 0.0, 0.0, 0.0);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
// glOrtho(-1.0, 1.0, -1.0, 1.0, -3.0, 3.0);
// Lighting set up
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, GL_TRUE);
// Set lighting intensity and color
GLfloat qaAmbientLight[] = {0.1, 0.1, 0.1, 1.0};
GLfloat qaDiffuseLight[] = {0.8, 0.8, 0.8, 1.0};
GLfloat qaSpecularLight[] = {0.6, 0.6, 0.6, 1.0};
glLightfv(GL_LIGHT0, GL_AMBIENT, qaAmbientLight);
glLightfv(GL_LIGHT0, GL_DIFFUSE, qaDiffuseLight);
glLightfv(GL_LIGHT0, GL_SPECULAR, qaSpecularLight);
glMaterialf(GL_FRONT, GL_SHININESS, 30);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
// Set the light position
GLfloat qaLightPosition[] = {4.0, 2.0, 3.0, 5.0};
glLightfv(GL_LIGHT0, GL_POSITION, qaLightPosition);
checkerboard.create();
Vector4f a = Vector4f(0,0,0,1);
Vector4f a1 = Vector4f(1.0,0,0,1);
Vector4f b0 = Vector4f(1.5,0,0,1);
Vector4f b = Vector4f(2,0,0,1);
Vector4f c = Vector4f(3,0,0,1);
Vector4f e = Vector4f(4,0,0,1);
Vector4f d = Vector4f(1,0,0,0);
number_of_arms = 6;
Link l0 = Link(a,d,1);
arm.push_back(l0);
Link l00 = Link(a1, d, 0.5);
arm.push_back(l00);
Link l1 = Link(b0,d,0.5);
arm.push_back(l1);
Link l2 = Link(b,d,1);
arm.push_back(l2);
Link l3 = Link(c,d,1);
arm.push_back(l3);
Link l4 = Link(e,d,1);
arm.push_back(l4);
};
int main(int argc, char *argv[])
{
PNMreader reader(argv[1]);
Crop crop;
crop.SetRegion(300, 1400, 50, 400);
crop.SetInput(reader.GetOutput());
Transpose t;
t.SetInput(crop.GetOutput());
Invert i;
i.SetInput(t.GetOutput());
Color color(50, 1101, 0, 0, 128);
LRConcat lr;
lr.SetInput(color.GetOutput());
lr.SetInput2(i.GetOutput());
Color white(401, 1101, 255, 255, 255);
Checkerboard cb;
cb.SetInput(lr.GetOutput());
cb.SetInput2(white.GetOutput());
cb.GetOutput()->Update();
PNMwriter writer;
writer.SetInput(cb.GetOutput());
writer.Write(argv[2]);
/*CheckSum cs;
cs.SetInput(cb.GetOutput());
cs.OutputCheckSum("proj3G_checksum");*/
}
int main(int argc, char *argv[])
{
if (argc < 2)
{
cerr << "Usage: " << argv[0] << " <username>" << endl;
exit(EXIT_FAILURE);
}
char event[1024];
sprintf(event, "Entered program from %s\n", argv[1]);
Logger::LogEvent(event);
/* START STUDENT MODIFIABLE SECTION */
PNMreader reader("../images/puddles.pnm");
Shrinker shrinker1;
Shrinker shrinker2;
LRConcat lrconcat1;
LRConcat lrconcat2;
TBConcat tbconcat1;
TBConcat tbconcat2;
Checkerboard blender;
shrinker1.SetInput(reader.GetOutput());
shrinker2.SetInput2(shrinker1.GetOutput());
lrconcat1.SetInput(shrinker1.GetOutput());
lrconcat1.SetInput2(shrinker2.GetOutput());
tbconcat1.SetInput(shrinker1.GetOutput());
tbconcat2.SetInput2(shrinker2.GetOutput());
blender.SetInput(reader.GetOutput());
blender.SetInput2(tbconcat1.GetOutput());
/* Make the image "finalImage" be the image at
the bottom of your pipeline */
Image *finalImage = blender.GetOutput();
/* END STUDENT MODIFIABLE SECTION */
try
{
finalImage->Update();
}
catch (DataFlowException &)
{
ofstream ofile("my_exception");
if (ofile.fail())
{
cerr << "Something is wrong ... can't open my_exception"
<< " for opening" << endl;
exit(EXIT_FAILURE);
}
ofile << "Exception found!" << endl;
exit(EXIT_SUCCESS);
}
CheckSum cs;
cs.SetInput(finalImage);
cs.OutputCheckSum("my_checksum");
if (argc == 3)
{
PNMwriter writer;
writer.SetInput(finalImage);
writer.Write("3H.pnm");
}
Logger::Finalize();
}
int main(int argc, char *argv[])
{
if (argc < 2)
{
cerr << "Usage: " << argv[0] << " <username>" << endl;
exit(EXIT_FAILURE);
}
char event[1024];
sprintf(event, "Entered program from %s\n", argv[1]);
Logger::LogEvent(event);
/* START STUDENT MODIFIABLE SECTION */
PNMreader reader("../images/hank.pnm");
Checkerboard b;
Invert i;
i.SetInput(reader.GetOutput());
b.SetInput(reader.GetOutput());
b.SetInput2(i.GetOutput());
LRConcat lr;
lr.SetInput(i.GetOutput());
lr.SetInput2(b.GetOutput());
LRConcat LR;
LR.SetInput(reader.GetOutput());
LR.SetInput2(i.GetOutput());
TBConcat tb;
tb.SetInput(lr.GetOutput());
tb.SetInput2(LR.GetOutput());
LRConcat Lr;
Lr.SetInput(tb.GetOutput());
Lr.SetInput2(tb.GetOutput());
Image *finalImage = Lr.GetOutput();
/* END STUDENT MODIFIABLE SECTION */
try
{
finalImage->Update();
}
catch (DataFlowException &)
{
ofstream ofile("my_exception");
if (ofile.fail())
{
cerr << "Something is wrong ... can't open my_exception"
<< " for opening" << endl;
exit(EXIT_FAILURE);
}
ofile << "Exception found!" << endl;
exit(EXIT_SUCCESS);
}
CheckSum cs;
cs.SetInput(finalImage);
cs.OutputCheckSum("my_checksum");
if (argc == 3)
{
PNMwriter writer;
writer.SetInput(finalImage);
writer.Write("3H.pnm");
}
Logger::Finalize();
}
int main(int argc, char* argv[]){
std::string pose_offset_filename = "./poseoffset";
unsigned cv_width = 128;
unsigned cv_height = 128;
unsigned cv_depth = 128;
float cv_min_d = 0.5;
float cv_max_d = 3.0;
bool undistort = false;
unsigned idwneighbours = 10;
bool using_nni = false;
CMDParser p("basefilename samplesfilename checkerboardviewinitfilename");
p.addOpt("p",1,"poseoffetfilename", "specify the filename of the poseoffset on disk, default: " + pose_offset_filename);
p.addOpt("s",3,"size", "use this calibration volume size (width x height x depth), default: 128 128 256");
p.addOpt("d",2,"depthrange", "use this depth range: 0.5 4.5");
p.addOpt("u", -1, "undistort", "enable undistortion of images before chessboardsampling, default: false");
p.addOpt("n",1,"numneighbours", "the number of neighbours that should be used for IDW inverse distance weighting, default: 10");
p.addOpt("i",-1,"nni", "do use natural neighbor interpolation if possible, default: false");
p.init(argc,argv);
if(p.getArgs().size() != 3)
p.showHelp();
if(p.isOptSet("p")){
pose_offset_filename = p.getOptsString("p")[0];
std::cout << "setting poseoffetfilename to " << pose_offset_filename << std::endl;
}
if(p.isOptSet("s")){
cv_width = p.getOptsInt("s")[0];
cv_height = p.getOptsInt("s")[1];
cv_depth = p.getOptsInt("s")[2];
}
if(p.isOptSet("d")){
cv_min_d = p.getOptsInt("d")[0];
cv_max_d = p.getOptsInt("d")[1];
}
if(p.isOptSet("u")){
undistort = true;
}
if(p.isOptSet("n")){
idwneighbours = p.getOptsInt("n")[0];
std::cout << "setting to numneighbours " << idwneighbours << std::endl;
}
if(p.isOptSet("i")){
using_nni = true;
}
std::string basefilename = p.getArgs()[0];
std::string filename_xyz(basefilename + "_xyz");
std::string filename_uv(basefilename + "_uv");
const std::string filename_yml(basefilename + "_yml");
std::string filename_samples(p.getArgs()[1]);
CalibVolume cv(cv_width, cv_height, cv_depth, cv_min_d, cv_max_d);
RGBDConfig cfg;
cfg.read(filename_yml.c_str());
RGBDSensor sensor(cfg);
Checkerboard cb;
cb.load_pose_offset(pose_offset_filename.c_str());
ChessboardSampling cbs(p.getArgs()[2].c_str(), cfg, undistort);
cbs.init();
glm::mat4 eye_d_to_world = sensor.guess_eye_d_to_world_static(cbs, cb);
std::cerr << "extrinsic of sensor is: " << eye_d_to_world << std::endl;
std::cerr << "PLEASE note, the extrinsic guess can be improved by averaging" << std::endl;
for(unsigned z = 0; z < cv.depth; ++z){
for(unsigned y = 0; y < cv.height; ++y){
for(unsigned x = 0; x < cv.width; ++x){
const unsigned cv_index = (z * cv.width * cv.height) + (y * cv.width) + x;
const float depth = (z + 0.5) * (cv.max_d - cv.min_d)/cv.depth + cv.min_d;
const float xd = (x + 0.5) * sensor.config.size_d.x * 1.0/cv.width;
const float yd = (y + 0.5) * sensor.config.size_d.y * 1.0/cv.height;
glm::vec3 pos3D_local = sensor.calc_pos_d(xd, yd, depth);
glm::vec2 pos2D_rgb = sensor.calc_pos_rgb(pos3D_local);
pos2D_rgb.x /= sensor.config.size_rgb.x;
pos2D_rgb.y /= sensor.config.size_rgb.y;
glm::vec4 pos3D_world = eye_d_to_world * glm::vec4(pos3D_local.x, pos3D_local.y, pos3D_local.z, 1.0);
xyz pos3D;
pos3D.x = pos3D_world.x;
pos3D.y = pos3D_world.y;
pos3D.z = pos3D_world.z;
cv.cv_xyz[cv_index] = pos3D;
uv posUV;
posUV.u = pos2D_rgb.x;
posUV.v = pos2D_rgb.y;
cv.cv_uv[cv_index] = posUV;
}
}
}
// load samples from filename
std::vector<samplePoint> sps;
std::ifstream iff(filename_samples.c_str(), std::ifstream::binary);
const unsigned num_samples_in_file = calcNumFrames(iff,
sizeof(float) +
sizeof(uv) +
sizeof(uv) +
sizeof(xyz) +
sizeof(uv) +
sizeof(glm::vec3) +
sizeof(float));
for(unsigned i = 0; i < num_samples_in_file; ++i){
samplePoint s;
iff.read((char*) &s.depth, sizeof(float));
iff.read((char*) &s.tex_color, sizeof(uv));
iff.read((char*) &s.tex_depth, sizeof(uv));
iff.read((char*) &s.pos_offset, sizeof(xyz));
iff.read((char*) &s.tex_offset, sizeof(uv));
iff.read((char*) glm::value_ptr(s.pos_real), sizeof(glm::vec3));
iff.read((char*) &s.quality, sizeof(float));
sps.push_back(s);
}
iff.close();
// reapply correction offsets
for(unsigned i = 0; i < sps.size(); ++i){
const unsigned cv_width = cv.width;
const unsigned cv_height = cv.height;
const unsigned cv_depth = cv.depth;
const float x = cv_width * ( sps[i].tex_depth.u) / cfg.size_d.x;
const float y = cv_height * ( sps[i].tex_depth.v)/ cfg.size_d.y;
const float z = cv_depth * ( sps[i].depth - cv.min_d)/(cv.max_d - cv.min_d);
xyz pos = getTrilinear(cv.cv_xyz, cv_width, cv_height, cv_depth, x , y , z );
uv tex = getTrilinear(cv.cv_uv, cv_width, cv_height, cv_depth, x , y , z );
sps[i].pos_offset.x = sps[i].pos_real[0] - pos.x;
sps[i].pos_offset.y = sps[i].pos_real[1] - pos.y;
sps[i].pos_offset.z = sps[i].pos_real[2] - pos.z;
sps[i].tex_offset.u = sps[i].tex_color.u/cfg.size_rgb.x - tex.u;
sps[i].tex_offset.v = sps[i].tex_color.v/cfg.size_rgb.y - tex.v;
sps[i].quality = 1.0f;
}
Calibrator c;
c.using_nni = using_nni;
c.applySamples(&cv, sps, cfg, idwneighbours, basefilename.c_str());
cv.save(filename_xyz.c_str(), filename_uv.c_str());
return 0;
}
Checkerboard::Checkerboard(const Checkerboard & board) : _size(board.getSize()),_square(board.getQSquare())
{
}
void myDraw(){
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(fov, 1, 0.5, 80);
// glOrtho(20, 20, 20, 20, 0.5, 20);
// Set material properties
glMaterialfv(GL_FRONT, GL_AMBIENT, qaRed);
glMaterialfv(GL_FRONT, GL_DIFFUSE, qaRed);
glMaterialfv(GL_FRONT, GL_SPECULAR, qaWhite);
glMaterialf(GL_FRONT, GL_SHININESS, 128.0);
glLightfv(GL_LIGHT0, GL_AMBIENT, qaLowAmbient);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(lookfrmx, lookfrmy, lookfrmz, lookatx, lookaty, lookatz, lookupx, lookupy, lookupz);
glRotatef(default_orbit, 1, 0.0f, 0.0f);
glRotatef(default_orbit2, 0.0f, 1, 0.0f);
//**************** Draw something segment, function call required ***************
curve_init(curve_name);
checkerboard.draw();
draw_wall();
for(int i = 0; i < number_of_arms; i++){
drawCone(arm[i]);
}
Vector3D theta2xyz;
if (curve_name == "Torus"){
theta2xyz = Torus_knot(goal_theta);
}
else if (curve_name == "Tornado"){
theta2xyz = Tornado(goal_theta);
}
goal_x = theta2xyz.x;
goal_y = theta2xyz.y;
goal_z = theta2xyz.z;
// cout << real_x << " " << real_y << " " << real_z << endl;
Vector4f goal = Vector4f(goal_x, goal_y, goal_z, 1);
// cout << "now goal's y is " << goal[1] << endl;
reachGoal(goal);
glMaterialfv(GL_FRONT, GL_AMBIENT, qaGreen);
drawpoint(goal);
// cout << "arm's configuration is now: " << arm[3].direction << endl;
for ( int i = 0; i < number_of_arms; i++)
{
glMaterialfv(GL_FRONT, GL_AMBIENT, qaBlue);
glColor3f( 0.95f, 0.207, 0.031f );
Vector4f point = arm[i].startpoint;
if (i==number_of_arms-1){
Vector4f endpoint = arm[number_of_arms-1].startpoint + arm[number_of_arms-1].get_link_direction()*arm[number_of_arms-1].length;
drawpoint(point);
// drawline(point, endpoint);
cout << "end arm directs at: \n" << endpoint-point << endl;
drawpoint(endpoint);
}
else{
Vector4f point2 = arm[i+1].startpoint;
drawpoint(point);
// drawline(point, point42);
}
}
if (on_start){
goal_theta += goal_delta;
glutPostRedisplay();
}
//**************** Draw something segment, function call required ***************
glFlush();
glutSwapBuffers();
}
