bool
VisionPerceptor::StaticAxisPercept(boost::shared_ptr<PredicateList> predList)
{
Predicate& predicate = predList->AddPredicate();
predicate.name = mPredicateName;
predicate.parameter.Clear();
TTeamIndex ti = mAgentState->GetTeamIndex();
salt::Vector3f myPos = mTransformParent->GetWorldTransform().Pos();
TObjectList visibleObjects;
SetupVisibleObjects(visibleObjects);
for (std::list<ObjectData>::iterator i = visibleObjects.begin();
i != visibleObjects.end(); ++i)
{
ObjectData& od = (*i);
od.mRelPos = SoccerBase::FlipView(od.mRelPos, ti);
if (mAddNoise)
{
od.mRelPos += mError;
}
if (
(od.mRelPos.Length() <= 0.1) ||
(CheckOcclusion(myPos,od))
)
{
// object is occluded or too close
continue;
}
// theta is the angle in the X-Y (horizontal) plane
od.mTheta = salt::gRadToDeg(salt::gArcTan2(od.mRelPos[1], od.mRelPos[0]));
// latitude
od.mPhi = 90.0 - salt::gRadToDeg(salt::gArcCos(od.mRelPos[2]/od.mDist));
// make some noise
ApplyNoise(od);
// generate a sense entry
AddSense(predicate,od);
}
if (mSenseMyPos)
{
Vector3f sensedMyPos = SoccerBase::FlipView(myPos, ti);
ParameterList& element = predicate.parameter.AddList();
element.AddValue(std::string("mypos"));
element.AddValue(sensedMyPos[0]);
element.AddValue(sensedMyPos[1]);
element.AddValue(sensedMyPos[2]);
}
return true;
}
bool CLiteObjectMgr::RemoveObjectFromList(TObjectList &aList, GameBaseLite *pObject)
{
TObjectList::iterator iObj = std::find(aList.begin(), aList.end(), pObject);
if (iObj == aList.end())
return false;
*iObj = 0;
return true;
}
void
VisionPerceptor::SetupVisibleObjects(TObjectList& visibleObjects)
{
TLeafList objectList;
mActiveScene->ListChildrenSupportingClass<ObjectState>(objectList, true);
salt::Vector3f myPos = mTransformParent->GetWorldTransform().Pos();
for (TLeafList::iterator i = objectList.begin();
i != objectList.end(); ++i)
{
ObjectData od;
od.mObj = static_pointer_cast<ObjectState>(*i);
if (od.mObj.get() == 0)
{
GetLog()->Error() << "Error: (VisionPerceptor) skipped: "
<< (*i)->GetName() << "\n";
continue; // this should never happen
}
boost::shared_ptr<Transform> j = od.mObj->GetTransformParent();
if (j.get() == 0)
{
continue; // this should never happen
}
od.mRelPos = j->GetWorldTransform().Pos() - myPos;
od.mDist = od.mRelPos.Length();
visibleObjects.push_back(od);
}
}
void CLiteObjectMgr::RemoveObjectList(TObjectList &aList)
{
// Remove the objects in the engine
TObjectList::iterator iCurObj = aList.begin();
for (; iCurObj != aList.end(); ++iCurObj)
{
if (*iCurObj)
{
GameBaseLite *pObj = *iCurObj;
// Clear out the entry in the list so we don't think we have it any more
*iCurObj = 0;
g_pLTServer->RemoveObject(pObj->GetClass(), pObj);
}
}
// Forget...
aList.swap(TObjectList());
}
void CLiteObjectMgr::CleanList(TObjectList &aList)
{
// Clear nulls from the end of the list
while (!aList.empty() && (aList.back() == 0))
aList.pop_back();
// Swap empties to the end of the list and get rid of them
TObjectList::iterator iCurObj = aList.begin();
while (iCurObj != aList.end())
{
if (!*iCurObj)
{
*iCurObj = aList.back();
aList.pop_back();
}
else
++iCurObj;
}
}
bool
VisionPerceptor::DynamicAxisPercept(boost::shared_ptr<PredicateList> predList)
{
Predicate& predicate = predList->AddPredicate();
predicate.name = mPredicateName;
predicate.parameter.Clear();
// get the transformation matrix describing the current orientation
const Matrix& mat = mTransformParent->GetWorldTransform();
TObjectList visibleObjects;
SetupVisibleObjects(visibleObjects);
for (std::list<ObjectData>::iterator i = visibleObjects.begin();
i != visibleObjects.end(); ++i)
{
ObjectData& od = (*i);
if (mAddNoise)
{
od.mRelPos += mError;
}
if (od.mRelPos.Length() <= 0.1)
{
// object is too close
continue;
}
// determine position relative to the local reference frame
Vector3f localRelPos = mat.InverseRotate(od.mRelPos);
// theta is the angle in horizontal plane, with fwAngle as 0 degree
od.mTheta = gNormalizeDeg (gRadToDeg(gNormalizeRad(
gArcTan2(localRelPos[1],localRelPos[0])
)) -90 );
// latitude with fwPhi as 0 degreee
od.mPhi = gRadToDeg(gNormalizeRad(
gArcTan2( localRelPos[2], Vector2f(localRelPos[0], localRelPos[1]).Length())
));
// make some noise
ApplyNoise(od);
// generate a sense entry
AddSense(predicate,od);
}
if (mSenseMyPos)
{
TTeamIndex ti = mAgentState->GetTeamIndex();
salt::Vector3f myPos = mTransformParent->GetWorldTransform().Pos();
Vector3f sensedMyPos = SoccerBase::FlipView(myPos, ti);
ParameterList& element = predicate.parameter.AddList();
element.AddValue(std::string("mypos"));
element.AddValue(sensedMyPos[0]);
element.AddValue(sensedMyPos[1]);
element.AddValue(sensedMyPos[2]);
}
return true;
}
bool CLiteObjectMgr::IsObjectInList(TObjectList &aList, GameBaseLite *pObject)
{
return std::find(aList.begin(), aList.end(), pObject) != aList.end();
}
void
RestrictedVisionPerceptor::AddSense(Predicate& predicate,
boost::shared_ptr<BaseNode> node,
TObjectList& objectList) const
{
if (objectList.empty())
{
return;
}
boost::shared_ptr<AgentAspect> agent_aspect =
dynamic_pointer_cast<AgentAspect>(node);
if (agent_aspect != 0)
{
boost::shared_ptr<AgentAspect> aspect =
agent_aspect->FindParentSupportingClass<AgentAspect>().lock();
if (aspect != 0)
{
agent_aspect = aspect;
}
boost::shared_ptr<AgentState> agent_state = static_pointer_cast<AgentState>
(agent_aspect->GetChildOfClass("AgentState",true));
if (agent_state.get() == 0 ||
(agent_state->GetPerceptName(ObjectState::PT_Player).empty())
)
{
return;
}
ParameterList& element = predicate.parameter.AddList();
element.AddValue(std::string("P"));
ParameterList player;
player.AddValue(std::string("team"));
player.AddValue
(std::string
(agent_state->GetPerceptName(ObjectState::PT_Player)
)
);
element.AddValue(player);
if (! agent_state->GetID().empty())
{
ParameterList id;
id.AddValue(std::string("id"));
id.AddValue(agent_state->GetID());
element.AddValue(id);
}
for (TObjectList::iterator j = objectList.begin();
j != objectList.end(); ++j)
{
ObjectData& od = (*j);
if (!od.mObj->GetID().empty())
{
ParameterList id;
id.AddValue(od.mObj->GetID());
ParameterList position;
position.AddValue(std::string("pol"));
position.AddValue(od.mDist);
position.AddValue(od.mTheta);
position.AddValue(od.mPhi);
id.AddValue(position);
element.AddValue(id);
}
}
}
else
{
for (TObjectList::iterator j = objectList.begin();
j != objectList.end(); ++j)
{
ObjectData& od = (*j);
ParameterList& element = predicate.parameter.AddList();
element.AddValue(od.mObj->GetPerceptName());
ParameterList& position = element.AddList();
position.AddValue(std::string("pol"));
position.AddValue(od.mDist);
position.AddValue(od.mTheta);
position.AddValue(od.mPhi);
}
}
}
void __fastcall TForm1::Button1Click(TObject *Sender)
{
//1.图像数组
Byte *data ; // data[] 处理一行数据
this->Image2->Picture->Bitmap->PixelFormat = pf8bit ;
Graphics::TBitmap * bitmap = this->Image2->Picture->Bitmap ;
//2.计算差值
DynamicArray< DynamicArray <int> > h ;
TObjectList *positionXY = new TObjectList(true);
TObjectList *map = new TObjectList(true);
h.Length = height;
for(int i = 0 ; i < height ; i++)
{
h[i].Length = width /2 ;
data = static_cast<Byte *> (this->Image2->Picture->Bitmap->ScanLine[i]) ;
for(int j = 0 ; j < width /2 ; j++)
{
//compute the difference
h[i][j] = data[2*j] - data[2*j+1] ;
//averate
int average = (data[2*j] + data[2*j+1]) /2 ;
//judge Expandable
//3.把差值分类 统计可以差值的位置
if( ( h[i][j] < 2*(255-average) )&&( h[i][j] > -2*(255-average)) && ( h[i][j] < 2*average+1 )&& ( h[i][j] > -(2*average+1) ) )
{
TPoint *p = new TPoint;
p->x = i ;
p->y = j ; //map the pair(a,b) a{x,y}
//4.嵌入数据
if( embedCount <= embedSize )
{
//expand difference
if( embeddata.operator [](embedCount) == '1')
{
h[i][j] = 2*h[i][j]+ 1 ;
}
embedCount++ ;
//recaculate x y
data[2*j] = average + (h[i][j]+1)/2 ;
data[2*j+1] = average - h[i][j]/2 ;
map->Add((TObject *)p);
TPoint *pair = new TPoint(data[2*j],data[2*j+1]);
positionXY->Add((TObject *)pair);
}
else
{
//5.存储map
if(this->SaveDialog1->Execute())
{
//保存map
AnsiString FileName = this->SaveDialog1->FileName;
int handle = FileCreate(FileName);
for(int a = 0 ; a < map->Count ; a++)
{
TPoint * p = (TPoint *)map->Items[a] ;
FileWrite(handle,p,sizeof(TPoint));
}
FileClose(handle);
this->Image2->Canvas->Draw(0,0,bitmap) ;
//保存h[i][j];
AnsiString strH = "";
for(int a = 0 ; a <= i ; a++)
{
for(int b = 0 ; b <= j ; b++)
{
strH +=AnsiString(h[a][b])+";";
}
}
AnsiString dirFileName = ExtractFilePath(FileName) +"difference.txt";
int difHandle = FileCreate(dirFileName);
FileWrite(difHandle,strH.c_str(),strH.Length());
FileClose(difHandle);
//保存修改坐标值
AnsiString valueFileName = ExtractFilePath(FileName) + "value.txt" ;
int valueHandle = FileCreate(valueFileName);
AnsiString pairStr = "" ;
for(int x = 0 ; x < positionXY->Count ; x++)
{
TPoint *pair = (TPoint *)positionXY->Items[x] ;
pairStr += AnsiString(pair->x) + "," + AnsiString(pair->y) + ";" ;
}
FileWrite(valueHandle,pairStr.c_str(),pairStr.Length());
FileClose(valueHandle) ;
return ;
}
}
}
}
}
//6. 清理
delete map ;
}
