void Bitmap::readScanLines(std::istream &sourceStream){
for (int row = 0; row < height; ++row)
{
ScanLine scanLine;
for (int column = 0; column < width; ++column)
{
scanLine.push_back(RGBColor::read(sourceStream));
}
scanLines.push_back(scanLine);
}
}
void Bitmap::readRawData(std::istream& sourceStream)
{
int numberOfScanLines = 0;
while (numberOfScanLines < mHeight)
{
ScanLine curScanLine;
int lineByteCount = 0;
while (lineByteCount < mWidth)
{
curScanLine.push_back(Color::read(sourceStream));
lineByteCount++; //do checking instead of this for the padding cases
}
//check for padding
for (int i = 0; i < getNumberOfPadBytes(); i++) sourceStream.get();
mScanLineCollection.push_back(curScanLine);
numberOfScanLines++;
}
}
/****************************************************************
* Function to parse a line from the DoTheWork clas. Takes in a line
* and adds it a temporary row vector. Then adds this row to the board
* vector to create the board.
*
* Parameters: string inString: the line to be parsed
*
**/
void Board::readData(string inString){
ScanLine inScanLine;
vector<int> row;
string temp;
int value;
inScanLine.openString(inString);
while(inScanLine.hasMoreData()){
temp = inScanLine.next();
if(temp == "."){
row.push_back(DUMMY);
}
else{
value = Utils::stringToInteger(temp);
row.push_back(value);
}
}
theBoard.push_back(row);
}
void Bitmap::read(std::istream& sourceStream)
{
myScanLines.clear();
for (int row = 0; row < myHeight; ++row)
{
ScanLine scanLine;
for (int column = 0; column < myWidth; ++column)
{
scanLine.push_back(Color::read(sourceStream));
}
// Read pad bytes
for (int pad = 0; pad < myNumberOfPadBytes; ++pad)
{
Binary::Byte::read(sourceStream);
}
myScanLines.push_back(scanLine);
}
}
int main(int argc, char** varg)
{
if(argc < 4)//this is how to use this
{
cerr << "usage: cmd file1 file2 output" << endl;
return 1;
}
//these are for holding each files occurances of strings, or lack thereof
set<WORD> file1, file2;
//Java like Scanner object
Scanner scan;
//open the file given as argument 1
scan.openFile(varg[1]);
//to the first file 'file1' we will add each string that is in there
//for the first occurance we set count at 1, and increment as needed
//to the second file 'file2' we will add each string from 'file1'
//and set the count to 0
while(scan.hasMoreData())
{
ScanLine line;
line.openString(scan.nextLine());
while(line.hasMoreData())
{
string nxt_token = line.next();
nxt_token = Utils::trimBlanks(nxt_token);
//add elements to 'file2' once with count 0
if(file2.count(nxt_token) == 0)
{
WORD f_two;
f_two.token = nxt_token;
f_two.count = 0;
file2.insert(f_two);
}
//add first occurance to file1 with count 1
if(file1.count(nxt_token) == 0)
{
WORD f_one;
f_one.token = nxt_token;
f_one.count = 1;
file1.insert(f_one);
}
else
{
//replace the word with a word of equal token and +1 count
set<WORD>::iterator it = file1.find(WORD(nxt_token));
int ct = it->count;
ct++;
file1.erase(it);
WORD replace;
replace.token = nxt_token;
replace.count = ct;
file1.insert(replace);
}
}
}
scan.close();//close file1
cout << "++++++++++++++++++++++++++++++++++++++++++++++++" << endl;
scan.openFile(varg[2]);//open file2
//to the second file 'file2' we will add each word we find, or
//increment as needed if it occurred in the first file
//if a string occurs in 'file2' that doesn't exist in 'file1'
//we will add any token to 'file1' list from 'file2' list and set count to 0
while(scan.hasMoreData())
{
ScanLine line;
line.openString(scan.nextLine());
while(line.hasMoreData())
{
string nxt_token = line.next();
nxt_token = Utils::trimBlanks(nxt_token);
//if the word doesn't already exist in 'file1' add it with count 0
if(file1.count(nxt_token) == 0)
{
WORD f_two;
f_two.token = nxt_token;
f_two.count = 0;
file1.insert(f_two);
}
//add the first occurance of a word to 'file2' with count 1
if(file2.count(nxt_token) == 0)
{
WORD f_one;
f_one.token = nxt_token;
f_one.count = 1;
file2.insert(f_one);
}
else
{
//replace the word with a word of equal token and +1 count
set<WORD>::iterator it = file2.find(WORD(nxt_token));
int ct = it->count;
ct++;
file2.erase(it);
WORD replace;
replace.token = nxt_token;
replace.count = ct;
file2.insert(replace);
}
}
}
scan.close();
ofstream outStream;
Utils::FileOpen(outStream, varg[3]);//open the output file
//write to it...
outStream << Utils::Format(compare(file1, file2), 2, 6) << endl;
Utils::FileClose(outStream);//close it
}
void virtualNUbot::processVisionFrame(NUimage& image)
{
std::vector< Vector2<int> > points;
std::vector< Vector2<int> > verticalPoints;
std::vector< TransitionSegment > segments;
std::vector< ObjectCandidate > candidates;
std::vector< ObjectCandidate > tempCandidates;
ClassifiedSection* vertScanArea = new ClassifiedSection();
ClassifiedSection* horiScanArea = new ClassifiedSection();
std::vector< Vector2<int> > horizontalPoints;
const int spacings = 8;
int tempNumScanLines = 0;
int robotClassifiedPoints = 0;
std::vector<unsigned char> validColours;
Vision::tCLASSIFY_METHOD method;
const int ROBOTS = 0;
const int BALL = 1;
const int GOALS = 2;
int mode = ROBOTS;
switch (image.imageFormat)
{
case pixels::YUYV:
generateClassifiedImage(image);
//! Find the green edges
points = vision.findGreenBorderPoints(&image,classificationTable,spacings,&horizonLine);
emit pointsDisplayChanged(points,GLDisplay::greenHorizonScanPoints);
//! Find the Field border
points = vision.getConvexFieldBorders(points);
points = vision.interpolateBorders(points,spacings);
emit pointsDisplayChanged(points,GLDisplay::greenHorizonPoints);
//! Scan Below Horizon Image
vertScanArea = vision.verticalScan(points,spacings);
//! Scan Above the Horizon
horiScanArea = vision.horizontalScan(points,spacings);
//! Classify Line Segments
vision.ClassifyScanArea(vertScanArea);
vision.ClassifyScanArea(horiScanArea);
//! Extract and Display Vertical Scan Points:
tempNumScanLines = vertScanArea->getNumberOfScanLines();
for (int i = 0; i < tempNumScanLines; i++)
{
ScanLine* tempScanLine = vertScanArea->getScanLine(i);
int lengthOfLine = tempScanLine->getLength();
Vector2<int> startPoint = tempScanLine->getStart();
for(int seg = 0; seg < tempScanLine->getNumberOfSegments(); seg++)
{
segments.push_back((*tempScanLine->getSegment(seg)));
}
if(vertScanArea->getDirection() == ClassifiedSection::DOWN)
{
for(int j = 0; j < lengthOfLine; j++)
{
Vector2<int> temp;
temp.x = startPoint.x;
temp.y = startPoint.y + j;
verticalPoints.push_back(temp);
}
}
}
//! Extract and Display Horizontal Scan Points:
tempNumScanLines = horiScanArea->getNumberOfScanLines();
for (int i = 0; i < tempNumScanLines; i++)
{
ScanLine* tempScanLine = horiScanArea->getScanLine(i);
int lengthOfLine = tempScanLine->getLength();
Vector2<int> startPoint = tempScanLine->getStart();
if(horiScanArea->getDirection() == ClassifiedSection::RIGHT)
{
for(int j = 0; j < lengthOfLine; j++)
{
Vector2<int> temp;
temp.x = startPoint.x + j;
temp.y = startPoint.y;
horizontalPoints.push_back(temp);
}
}
}
emit pointsDisplayChanged(horizontalPoints,GLDisplay::horizontalScanPath);
emit pointsDisplayChanged(verticalPoints,GLDisplay::verticalScanPath);
//! Identify Field Objects
qDebug() << "PREclassifyCandidates";
mode = ROBOTS;
method = Vision::PRIMS;
for (int i = 0; i < 3; i++)
{
validColours.clear();
switch (i)
{
case ROBOTS:
validColours.push_back(ClassIndex::white);
validColours.push_back(ClassIndex::red);
validColours.push_back(ClassIndex::shadow_blue);
qDebug() << "PRE-ROBOT";
tempCandidates = vision.classifyCandidates(segments, points, validColours, spacings, 0.2, 2.0, 12, method);
qDebug() << "POST-ROBOT";
robotClassifiedPoints = 0;
break;
case BALL:
validColours.push_back(ClassIndex::orange);
validColours.push_back(ClassIndex::red_orange);
validColours.push_back(ClassIndex::yellow_orange);
qDebug() << "PRE-BALL";
tempCandidates = vision.classifyCandidates(segments, points, validColours, spacings, 0.3, 3.0, 2, method);
qDebug() << "POST-BALL";
break;
case GOALS:
validColours.push_back(ClassIndex::yellow);
validColours.push_back(ClassIndex::blue);
qDebug() << "PRE-GOALS";
tempCandidates = vision.classifyCandidates(segments, points, validColours, spacings, 0.1, 4.0, 2, method);
qDebug() << "POST-GOALS";
break;
}
while (tempCandidates.size())
{
candidates.push_back(tempCandidates.back());
tempCandidates.pop_back();
}
}
emit candidatesDisplayChanged(candidates, GLDisplay::ObjectCandidates);
qDebug() << "POSTclassifyCandidates";
qDebug()<< (verticalPoints.size() + horizontalPoints.size() + robotClassifiedPoints) * 100/(image.height()*image.width()) << " percent of image classified";
emit transitionSegmentsDisplayChanged(segments,GLDisplay::TransitionSegments);
break;
default:
break;
}
return;
}
