From 5d6d9a9df5ac4ebe883338181da0f0d2ed909619 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Elisson=20Ara=C3=BAjo?= <44985807+ersaraujo@users.noreply.github.com> Date: Thu, 7 Sep 2023 02:00:35 -0300 Subject: [PATCH] feat(PositionProcessing): Change pattern detection and robot id calculate (#36) * fix(PositionProcessing): removes old pattern detection * wip: prints * feat(videos): add new static video * feat(PositionProcessing): add new robot id detection * fix(RobotWidget): remove "gambiarra" * fix(server): remove "gambiarra" id * feat(PositionProcessing): Add old pattern detection possibility * Revert "Merge branch 'new-pattern' into first-version" This reverts commit 040de64c9602429f1e9b574d9428c7db41f9523f. * feat(Videos): add new video * fix(RobotWidget): fix robot color at interface * feat(PositionProcessing): add new filter for pattern detection * fix(RobotWidget): adjusting color ids order * fix(PositionProcessing): regions with less than three blobs skipped * fix(Receiver): Multicast configuration * fix(PositionProcessing): adjusting robot id (pink,green) * fix(PositionProcessing): Checking valid id * chore(videos): adding new tag pattern videos * refactor(RobotWidget): update pattern draw * refactor(PositionProcessing): update findTeam * [wip] fix filterPattern * [wip] fix id * feat(PositionProcessing): add kalman filter * fix(RobotWiget): adjust pattern draw --------- Co-authored-by: acrucha --- client/python/receiver.py | 10 +- src/Config/PositionProcessing.xml | 8 +- .../Segmentation/MaggicSegmentation.txt | 6 +- src/Config/Video.xml | 2 +- src/Network/visionServer/server.cpp | 4 +- src/Utils/Utils.cpp | 4 +- src/Utils/Utils.h | 2 +- .../PositionProcessing/BlobDetection.cpp | 1 - .../PositionProcessing/PositionProcessing.cpp | 264 ++++++++++-------- .../PositionProcessing/PositionProcessing.h | 38 ++- src/Vision/Vision.cpp | 2 +- src/Windows/RobotWidget.cpp | 20 +- src/Windows/RobotWidget.h | 1 + videos/5v5.mp4 | Bin 0 -> 5446000 bytes videos/all_tags.mp4 | Bin 0 -> 14733 bytes videos/tags_3v3_0.mp4 | Bin 0 -> 10218 bytes videos/tags_3v3_1.mp4 | Bin 0 -> 10232 bytes videos/tags_3v3_2.mp4 | Bin 0 -> 10297 bytes videos/tags_3v3_3.mp4 | Bin 0 -> 10108 bytes 19 files changed, 212 insertions(+), 150 deletions(-) create mode 100644 videos/5v5.mp4 create mode 100644 videos/all_tags.mp4 create mode 100644 videos/tags_3v3_0.mp4 create mode 100644 videos/tags_3v3_1.mp4 create mode 100644 videos/tags_3v3_2.mp4 create mode 100644 videos/tags_3v3_3.mp4 diff --git a/client/python/receiver.py b/client/python/receiver.py index 21e85b2..24f9faf 100644 --- a/client/python/receiver.py +++ b/client/python/receiver.py @@ -22,13 +22,11 @@ def __init__(self, self.vision_ip = vision_ip self.vision_port = vision_port - self.vision_sock = socket.socket( - socket.AF_INET, socket.SOCK_DGRAM) + self.vision_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.vision_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - self.vision_sock.setsockopt(socket.IPPROTO_IP, - socket.IP_MULTICAST_TTL, 128) - self.vision_sock.setsockopt(socket.IPPROTO_IP, - socket.IP_MULTICAST_LOOP, 1) + self.vision_sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 128) + self.vision_sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_LOOP, 1) + self.vision_sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, struct.pack("=4sl", socket.inet_aton(self.vision_ip), socket.INADDR_ANY)) self.vision_sock.bind((self.vision_ip, self.vision_port)) # self.vision_sock.setblocking(True) diff --git a/src/Config/PositionProcessing.xml b/src/Config/PositionProcessing.xml index af0885f..ea78947 100755 --- a/src/Config/PositionProcessing.xml +++ b/src/Config/PositionProcessing.xml @@ -1,11 +1,11 @@ - 95 - 1000 - 784 + 18 + 760 + 52 733 - 100 + 500 2 3 0 diff --git a/src/Config/Segmentation/MaggicSegmentation.txt b/src/Config/Segmentation/MaggicSegmentation.txt index 4a460de..b9fd1dc 100755 --- a/src/Config/Segmentation/MaggicSegmentation.txt +++ b/src/Config/Segmentation/MaggicSegmentation.txt @@ -1,10 +1,10 @@ Maggic -17 45 -45 +30 216 +53 -1 4 7 1 43 3 97 5 140 7 -168 2 +151 2 235 6 diff --git a/src/Config/Video.xml b/src/Config/Video.xml index 3526c83..3871132 100755 --- a/src/Config/Video.xml +++ b/src/Config/Video.xml @@ -1,4 +1,4 @@ -/workspaces/vss-vision/videos/static5v5.mp4 +/home/robocin_vss/Videos/grav3.mp4 diff --git a/src/Network/visionServer/server.cpp b/src/Network/visionServer/server.cpp index 5b25d65..28adfb0 100644 --- a/src/Network/visionServer/server.cpp +++ b/src/Network/visionServer/server.cpp @@ -43,7 +43,7 @@ void VisionServer::send(std::vector &entities) { } else{ if((int)entities[i].team() == Color::YELLOW){ SSL_DetectionRobot *robot = frame->mutable_robots_yellow()->Add(); - robot->set_robot_id(entities[i].id()-200); + robot->set_robot_id(entities[i].id()); robot->set_x(entities[i].position().x * 10); robot->set_y(entities[i].position().y * 10); robot->set_orientation(entities[i].angle()); @@ -52,7 +52,7 @@ void VisionServer::send(std::vector &entities) { robot->set_pixel_y(robot->y()*100); }else if((int)entities[i].team() == Color::BLUE){ SSL_DetectionRobot *robot = frame->mutable_robots_blue()->Add(); - robot->set_robot_id(entities[i].id()-100); + robot->set_robot_id(entities[i].id()); robot->set_x(entities[i].position().x * 10); robot->set_y(entities[i].position().y * 10); robot->set_orientation(entities[i].angle()); diff --git a/src/Utils/Utils.cpp b/src/Utils/Utils.cpp index 9ab59f1..6bafac3 100755 --- a/src/Utils/Utils.cpp +++ b/src/Utils/Utils.cpp @@ -30,8 +30,8 @@ double Utils::double_dif(double x, double y) { return ((x-y)*(x-y)); } -double Utils::euclideanDistance(cv::Point alfa, cv::Point beta) { - return sqrt((pow(alfa.x - beta.x, 2) + pow(alfa.y - beta.y, 2))); +double Utils::sumOfSquares(cv::Point alfa, cv::Point beta) { + return (pow(alfa.x - beta.x, 2) + pow(alfa.y - beta.y, 2)); } double Utils::angle(cv::Point alfa,cv::Point beta) { diff --git a/src/Utils/Utils.h b/src/Utils/Utils.h index 689aeca..026020d 100755 --- a/src/Utils/Utils.h +++ b/src/Utils/Utils.h @@ -114,7 +114,7 @@ namespace Utils { * * @return Sum of squares between the two points */ - double euclideanDistance(cv::Point alfa, cv::Point beta); + double sumOfSquares(cv::Point alfa, cv::Point beta); /** * @brief Return the ajusted angle diff --git a/src/Vision/PositionProcessing/BlobDetection.cpp b/src/Vision/PositionProcessing/BlobDetection.cpp index 54f2764..1483fb9 100755 --- a/src/Vision/PositionProcessing/BlobDetection.cpp +++ b/src/Vision/PositionProcessing/BlobDetection.cpp @@ -50,7 +50,6 @@ void BlobDetection::findBlobs(cv::Mat& debugFrame) { blob[i][j].valid = false; blob[i][j].position = cv::Point(0,0); blob[i][j].area = 0; - blob[i][j].distance = INT_MAX; } } diff --git a/src/Vision/PositionProcessing/PositionProcessing.cpp b/src/Vision/PositionProcessing/PositionProcessing.cpp index f90050e..0007bb5 100755 --- a/src/Vision/PositionProcessing/PositionProcessing.cpp +++ b/src/Vision/PositionProcessing/PositionProcessing.cpp @@ -1,5 +1,5 @@ #include "PositionProcessing.h" - +#include "Utils/EnumsAndConstants.h" void PositionProcessing::saveXML() { @@ -26,19 +26,18 @@ void PositionProcessing::matchBlobs(cv::Mat& debugFrame){ static Players empty_players; vss.setPlayers(empty_players); - // printf("Team Color %d\n", getTeamColor()); // Settting team positions Players teamA; findTeam(teamA, debugFrame, groupedBlobs.team); setTeamColor(getTeamColor() == Color::YELLOW ? Color::BLUE : Color::YELLOW); Players teamB; - USE_PATTERN_FOR_ENEMIES ? findTeam(teamB, debugFrame, groupedBlobs.enemies) : findEnemys(teamB, debugFrame, groupedBlobs.enemies); + findTeam(teamB, debugFrame, groupedBlobs.enemies); setTeamColor(getTeamColor() == Color::YELLOW ? Color::BLUE : Color::YELLOW); Players allPlayers; allPlayers.insert(allPlayers.end(),teamA.begin(),teamA.end()); - //allPlayers.insert(allPlayers.end(),teamB.begin(),teamB.end()); + allPlayers.insert(allPlayers.end(),teamB.begin(),teamB.end()); sort(allPlayers.begin(),allPlayers.end()); Entity ball; @@ -48,97 +47,80 @@ void PositionProcessing::matchBlobs(cv::Mat& debugFrame){ } void PositionProcessing::findTeam(Players &players, cv::Mat& debugFrame, std::vector &teamRegions) { - players.clear(); - std::bitset<100> markedColors; + players.clear(); + filterPattern(teamRegions); uint teamColor = static_cast(getTeamColor()); for (Region ®ion : teamRegions) { - if(region.blobs.size() == 2){ - if (region.distance < blobMaxDist()) { - //int colorIndex = Utils::convertOldColorToNewColor(region.color); - int colorIndex = region.blobs[1].color; - if (!Utils::isRobotColor(colorIndex)) { - // cor invalida - continue; - } - if (markedColors[size_t(colorIndex)]){ - continue; - } + if(USE_OLD_PATTERN){ - markedColors[size_t(colorIndex)] = true; - Blobs blobs = region.blobs; - Blob b1 = blobs[1], b2 = blobs[0]; - Player robot((teamColor-1)*100 + static_cast(colorIndex) - Color::RED); // seta o id da robo na regiao - robot.team(teamColor); - Point newPositionInPixels = (b1.position + b2.position) * 0.5; - Point newPosition = Utils::convertPositionPixelToCm(newPositionInPixels); - - int firstSecondary = b2.color; - int secondSecondary = b3.color; - int colorIndex = firstSecondary; - - // auto & playerPosVel = _kalmanFilterRobots[teamColor-2][robot.id()%100].update(newPosition.x,newPosition.y); + int colorIndex = region.blobs[1].color; + + if (!Utils::isRobotColor(colorIndex)) { + // cor invalida + continue; + } - // Geometry::PT filtPoint (playerPosVel(0, 0), playerPosVel(1, 0)); - // Geometry::PT PlayVel(playerPosVel(2, 0), playerPosVel(3, 0)); + Blobs blobs = region.blobs; + Blob b1 = blobs[1], b2 = blobs[0]; + Player robot((teamColor-1)*100 + static_cast(colorIndex) - Color::RED); // seta o id da robo na regiao + robot.team(teamColor); + Point newPositionInPixels = (b1.position + b2.position) * 0.5; + Point newPosition = Utils::convertPositionPixelToCm(newPositionInPixels); + Float newAngle = Utils::angle(b1.position, b2.position); + + robot.update(Point(newPosition.x,newPosition.y), newAngle); + players.push_back(robot); + cv::circle(debugFrame, Utils::convertPositionCmToPixel(Point(newPosition.x,newPosition.y)), 15, _colorCar[teamColor], 2, cv::LINE_AA); + cv::circle(debugFrame, Utils::convertPositionCmToPixel(Point(newPosition.x,newPosition.y)), 12, _colorCar[colorIndex], 2, cv::LINE_AA); + } + else if(region.blobs.size() == 3) { + int firstSecondary = region.blobs[1].color; + int secondSecondary = region.blobs[2].color; + int colorIndex = ((teamColor) + (firstSecondary * MAX_ROBOTS) + (secondSecondary * MAX_ROBOTS * MAX_ROBOTS)); - // auto &playerRotVel = _dirFilteRobots[teamColor-2][robot.id()%100].update(std::cos(newAngle), std::sin(newAngle)); - // double filterDir = std::atan2(playerRotVel(1, 0), playerRotVel(0, 0)); - robot.update(Point(newPosition.x,newPosition.y), newAngle); - players.push_back(robot); - cv::circle(debugFrame, Utils::convertPositionCmToPixel(Point(newPosition.x,newPosition.y)), 15, _colorCar[teamColor], 2, cv::LINE_AA); - cv::circle(debugFrame, Utils::convertPositionCmToPixel(Point(newPosition.x,newPosition.y)), 12, _colorCar[colorIndex], 2, cv::LINE_AA); + if (!Utils::isRobotColor(firstSecondary) || !Utils::isRobotColor(secondSecondary)) { + continue; } - } else if (region.blobs.size() == 3){ + + // markedColors[size_t(newId(colorIndex))] = true; + Blobs blobs = region.blobs; + Blob b1 = blobs[0], b2 = blobs[1], b3 = blobs[2]; + if(newId(colorIndex) > 12) + continue; + + Player robot(newId(colorIndex)); - //int colorIndex = Utils::convertOldColorToNewColor(region.color); - int firstSecondary = region.blobs[1].color; - int secondSecondary = region.blobs[2].color; - int colorIndex = secondSecondary*10 + firstSecondary; - printf("Color ID: %d + %d = %d\n", firstSecondary, secondSecondary, colorIndex); - if (!Utils::isRobotColor(firstSecondary) || !Utils::isRobotColor(secondSecondary)) { - // cor invalida - continue; - } - if (markedColors[size_t(colorIndex)]){ - continue; - } + robot.team(teamColor); - markedColors[size_t(colorIndex)] = true; - Blobs blobs = region.blobs; - Blob b1 = blobs[0], b2 = blobs[1], b3 = blobs[2]; - Player robot((teamColor-1)*100 + static_cast(colorIndex) - Color::RED); // seta o id da robo na regiao - robot.team(teamColor); - cv::Point secondaryPosition = (b2.position + b3.position) * 0.5; - Point newPositionInPixels = (b1.position + b2.position) * 0.5; - Point newPosition = Utils::convertPositionPixelToCm(newPositionInPixels); + cv::Point secondaryPosition = (b2.position + b3.position) * 0.5; + Point newPositionInPixels = (b1.position + secondaryPosition) * 0.5; + Point newPosition = Utils::convertPositionPixelToCm(newPositionInPixels); + Float newAngle = Utils::angle(secondaryPosition, b1.position); - Float newAngle = Utils::angle(b1.position, secondaryPosition); + auto & playerPosVel = _kalmanFilterRobots[teamColor-2][robot.id()].update(newPosition.x,newPosition.y); - // auto & playerPosVel = _kalmanFilterRobots[teamColor-2][robot.id()%100].update(newPosition.x,newPosition.y); + Geometry::PT filtPoint (playerPosVel(0, 0), playerPosVel(1, 0)); + Geometry::PT PlayVel(playerPosVel(2, 0), playerPosVel(3, 0)); - // Geometry::PT filtPoint (playerPosVel(0, 0), playerPosVel(1, 0)); - // Geometry::PT PlayVel(playerPosVel(2, 0), playerPosVel(3, 0)); + auto &playerRotVel = _dirFilteRobots[teamColor-2][robot.id()%100].update(std::cos(newAngle), std::sin(newAngle)); + double filterDir = std::atan2(playerRotVel(1, 0), playerRotVel(0, 0)); + + robot.update(Point(filtPoint.x,filtPoint.y), filterDir); + players.push_back(robot); - // auto &playerRotVel = _dirFilteRobots[teamColor-2][robot.id()%100].update(std::cos(newAngle), std::sin(newAngle)); - // double filterDir = std::atan2(playerRotVel(1, 0), playerRotVel(0, 0)); - robot.update(Point(newPosition.x,newPosition.y), newAngle); - players.push_back(robot); - cv::circle(debugFrame, Utils::convertPositionCmToPixel(Point(newPosition.x,newPosition.y)), 15, _colorCar[teamColor], 2, cv::LINE_AA); - cv::circle(debugFrame, Utils::convertPositionCmToPixel(Point(newPosition.x,newPosition.y)), 12, _colorCar[colorIndex], 2, cv::LINE_AA); + cv::circle(debugFrame, Utils::convertPositionCmToPixel(newPosition), 15, _colorCar[teamColor], 2, cv::LINE_AA); + cv::circle(debugFrame, Utils::convertPositionCmToPixel(newPosition), 12, _colorCar[teamColor], 2, cv::LINE_AA); } } - } void PositionProcessing::findEnemys(Entities &players, cv::Mat& debugFrame, std::vector &enemyRegions) { players.clear(); - //std::bitset markedColors; uint teamColor = this->_teamId == Color::YELLOW ? Color::BLUE : Color::YELLOW; - for (Region ®ion : enemyRegions) { if (region.distance < blobMaxDist()) { int colorIndex = region.blobs[0].color; @@ -152,7 +134,7 @@ void PositionProcessing::findEnemys(Entities &players, cv::Mat& debugFrame, std: // Debug cv::circle(debugFrame, newPositionInPixels, 12, _colorCar[colorIndex], 2, cv::LINE_AA); - Float newAngle = Utils::angle(b2.position, b2.position); + Float newAngle = Utils::angle(b2.position, b1.position); robot.update(newPosition, newAngle); players.push_back(robot); } @@ -225,60 +207,94 @@ void PositionProcessing::findBall(Entity &ball, cv::Mat& debugFrame) { static_cast(newPosition.y)); } -PositionProcessing::Blobs PositionProcessing::getNearestSecondary(Blob current) { - Blobs choosen; +std::pair PositionProcessing::getNearestPrimary(Blob current) { + int dMin = INT_MAX, distance, team = 0; + Blob choosen; + NearestBlobInfo result; - for(int idColor = Color::RED ; idColor < Color::BROWN+1; idColor++) { + for(int teamColor = Color::BLUE ; teamColor <= Color::YELLOW ; teamColor++) { for(int i = 0 ; i < CLUSTERSPERCOLOR ;i++) { - if(blob[idColor][i].valid) { - blob[idColor][i].color = idColor; - blob[idColor][i].distance = static_cast(Utils::euclideanDistance(blob[idColor][i].position, current.position)); - - if(blob[idColor][i].distance < blobMaxDist()) - { - if(choosen.size() == 2) - { - if(choosen.begin()->distance > blob[idColor][i].distance) - { - choosen[0] = blob[idColor][i]; - std::sort(choosen.begin(), choosen.end(), [](Blob a, Blob b) { - return a.distance > b.distance; - }); - break; - } - } else { - choosen.push_back(blob[idColor][i]); - std::sort(choosen.begin(),choosen.end(),[](Blob a, Blob b) { - return a.distance > b.distance; - }); - break; - } + if(blob[teamColor][i].valid) { + distance = static_cast(Utils::sumOfSquares(current.position,blob[teamColor][i].position)); + + if(distance < dMin) { + dMin = distance; + choosen = blob[teamColor][i]; + team = teamColor; } - } else break; + } + else break; } } - return choosen; -} result.distance = dMin; result.teamIndex = team; choosen.color = team; + return std::make_pair(choosen,result); + +} + +void PositionProcessing::filterPattern(Regions ®ions) { + Regions f_regions; // Sort regions by leftmost blob for (auto &r : regions) { - if(r.blobs[0].position.y < (r.blobs[1].position.y + r.blobs[2].position.y)/2) // Primary blob on top - { - if(r.blobs[1].position.x > r.blobs[2].position.x) - { - std::swap(r.blobs[1], r.blobs[2]); - } - } - else if(r.blobs[1].position.x < r.blobs[2].position.x) // Primary blob on bottom - { + if (r.blobs.size() < 3) { + continue; + } + + Point b0 = r.blobs[0].position; + Point b1 = r.blobs[1].position; + Point b2 = r.blobs[2].position; + + // Compute robot center: + Point robot = 0.5 * (b0 + 0.5 * (b1 + b2)); + + // Compute robot x and y axis vectors: + Point vx = 0.5 * (b1 + b2) - robot; + Point vy(-vx.y, vx.x); + + // Compute b2 projection on vy + // Swap blobs if projection is positive (should be the opposite, but it worked this way!) + bool swap_blobs = ((b2.x-robot.x)*vy.x+(b2.y-robot.y)*vy.y>0); + + if (swap_blobs) { std::swap(r.blobs[1], r.blobs[2]); } + f_regions.push_back(r); + + // cv::Point b2 = (r.blobs[1].position + r.blobs[2].position) * 0.5; + // + // + // double angleThreshold = 10.0 * (M_PI / 180.0); + // double angleDiffTo180 = std::abs(std::abs(Utils::angle(b2, b1)) - M_PI); + // + // if(std::abs(Utils::angle(b2, b1)) < angleThreshold || angleDiffTo180 < angleThreshold) { + // + // if (r.blobs[0].position.x > (r.blobs[1].position.x + r.blobs[2].position.x) / 2) { + // if(r.blobs[1].position.y > r.blobs[2].position.y){ + // std::swap(r.blobs[1], r.blobs[2]); + // } + // }else{ + // if(r.blobs[1].position.y < r.blobs[2].position.y){ + // std::swap(r.blobs[1], r.blobs[2]); + // } + // } + // } + // else if(r.blobs[0].position.y < (r.blobs[1].position.y + r.blobs[2].position.y)/2) // Primary blob on top + // { + // if(r.blobs[1].position.x > r.blobs[2].position.x) + // { + // std::swap(r.blobs[1], r.blobs[2]); + // } + // } + // else if(r.blobs[1].position.x < r.blobs[2].position.x) // Primary blob on bottom + // { + // std::swap(r.blobs[1], r.blobs[2]); + // } + // f_regions.push_back(r); } regions = f_regions; } @@ -310,12 +326,12 @@ void PositionProcessing::filterTeam(Regions ®ions) { PositionProcessing::FieldRegions PositionProcessing::pairBlobs() { FieldRegions result; - Blobs secondary; + std::pair primary; Region current; - for(int teamColor = Color::BLUE; teamColor <= Color::YELLOW; teamColor++) { - for(int i = 0; i < CLUSTERSPERCOLOR; i++){ - if(blob[teamColor][i].valid){ + for(int idColor = Color::RED ; idColor < Color::BROWN+1; idColor++) { + for(int i = 0 ; i < CLUSTERSPERCOLOR ; i++) { + if(blob[idColor][i].valid) { current.blobs.clear(); primary = this->getNearestPrimary(blob[idColor][i]); blob[idColor][i].color = idColor; @@ -349,6 +365,7 @@ PositionProcessing::FieldRegions PositionProcessing::pairBlobs() { } } filterTeam(result.team); + filterTeam(result.enemies); return result; } @@ -424,7 +441,6 @@ void PositionProcessing::initBlob(PositionProcessing::Blob &blob) blob.area = 0; blob.angle = 0; blob.valid = false; - blob.distance = INT_MAX; } void PositionProcessing::initDefault() @@ -487,4 +503,20 @@ int PositionProcessing::blobMaxDist() { return _blobMaxDist; } +int PositionProcessing::newId(int oldId){ + int id = 255; + + auto it = std::find(idGenerated.begin(), idGenerated.end(), oldId); + + if (it != idGenerated.end()){ + id = std::distance(idGenerated.begin(), it); + } else { + it = std::find(idGenerated.begin(), idGenerated.end(), oldId-1); + if(it != idGenerated.end()){ + id = std::distance(idGenerated.begin(), it); + } + } + return id; +} + diff --git a/src/Vision/PositionProcessing/PositionProcessing.h b/src/Vision/PositionProcessing/PositionProcessing.h index 593bbe5..94919e8 100755 --- a/src/Vision/PositionProcessing/PositionProcessing.h +++ b/src/Vision/PositionProcessing/PositionProcessing.h @@ -23,7 +23,9 @@ #define CLUSTERSPERCOLOR 8 #define MAX_ROBOTS 6 +#define MAX_ROBOT_ID 12 #define BALL_INDEX 6 +#define MIN_ID 176 #define POSITION_PROCESSING_FILE "Config/PositionProcessing.xml" #define WHERE_ARE_THOSE_FILE "Config/PositionProcessingWhereAre.xml" @@ -59,6 +61,20 @@ #define secondaryColor5 "SecondaryColor5" #define secondaryColor6 "SecondaryColor6" + +#define RED_GREEN 206 +#define RED_PINK 242 +#define RED_CYAN 278 +#define GREEN_RED 176 +#define GREEN_PINK 248 +#define GREEN_CYAN 284 +#define PINK_RED 182 +#define PINK_GREEN 218 +#define PINK_CYAN 290 +#define CYAN_RED 188 +#define CYAN_GREEN 224 +#define CYAN_PINK 260 + #define DEFAULT_ROWS 660 #define DEFAULT_COLS 880 @@ -98,7 +114,8 @@ class PositionProcessing { typedef std::vector Blobs; typedef struct NearestBlobInfo{ - int idColor; + int teamIndex; + double distance; } NearestBlobInfo; typedef struct Region { @@ -196,15 +213,17 @@ class PositionProcessing { */ void filterTeam(Regions ®ions); + void filterPattern(Regions ®ions); + /** * @brief Identifies from which team the blob belongs to. */ FieldRegions pairBlobs(); - /** + /** * @brief combines a color patch identifier with the closer team patch. */ - Blobs getNearestSecondary(Blob current); + std::pair getNearestPrimary(Blob current); /** * @brief Identifies all robots @@ -278,6 +297,14 @@ class PositionProcessing { // retorna a maxima distancia entre blobs para serem um robo int blobMaxDist(); + int newId(int oldId); + + + std::vector idGenerated = {RED_GREEN, RED_PINK, RED_CYAN, + GREEN_RED, GREEN_PINK, GREEN_CYAN, + PINK_RED, PINK_GREEN, PINK_CYAN, + CYAN_RED, CYAN_GREEN, CYAN_PINK}; + std::mutex _frameLocker; std::map param; cv::Scalar _colorCar[ColorStrange+1]; @@ -289,13 +316,14 @@ class PositionProcessing { enum enemy{Nothing,Primary,Secundary,Both}; int _teamColor; int _minSize, _maxSize, _minSizeBall, _maxSizeBall, _blobMaxDist, _teamId, _enemyTeam , _enemySearch, _showElement; - KalmanFilter _kalmanFilterRobots[2][MAX_ROBOTS]; - KalmanFilter _dirFilteRobots[2][MAX_ROBOTS]; + KalmanFilter _kalmanFilterRobots[2][MAX_ROBOT_ID]; + KalmanFilter _dirFilteRobots[2][MAX_ROBOT_ID]; KalmanFilter _kalmanFilterBall[1][1]; KalmanFilter _dirFilterBall[1][1]; Point _ballLastPosition; Float _ballLastTime; static const bool USE_PATTERN_FOR_ENEMIES = true; + static const bool USE_OLD_PATTERN = false; }; diff --git a/src/Vision/Vision.cpp b/src/Vision/Vision.cpp index 6b59289..9851305 100755 --- a/src/Vision/Vision.cpp +++ b/src/Vision/Vision.cpp @@ -72,7 +72,7 @@ void Vision::update() Global::setConvertRatio(_convert); this->_processingFrame = this->_currentFrame.clone(); - + if (this->_isProcessingEnabled) { this->_processingFrame = this->_segmentation->run(this->_processingFrame); diff --git a/src/Windows/RobotWidget.cpp b/src/Windows/RobotWidget.cpp index 6a07fce..2a757b9 100755 --- a/src/Windows/RobotWidget.cpp +++ b/src/Windows/RobotWidget.cpp @@ -1,5 +1,4 @@ #include "RobotWidget.h" -#include #include "ui_RobotWidget.h" #include "Vision/Vision.h" @@ -51,11 +50,13 @@ void RobotWidget::setSecondaryColor(QPixmap &t_robotId) { // AJUSTAR QColor color(Qt::black); QVector names; - int t_id = (this->m_robotId % 100) / 10; + int t_id = (ids[this->m_robotId]/6)%6; + if(t_id < 4){ + t_id += 6; + } for (const char *str : Color::_names()) { - printf("ID: %d\n", t_id); - if (t_id/10 == Color::_from_string(str)) { + if (t_id == Color::_from_string(str)) { QString correctColor(str); if (QColor::isValidColor(correctColor)) { color = QColor(correctColor); @@ -73,11 +74,14 @@ void RobotWidget::setSecondSecondary(QPixmap &t_robotId) { // AJUSTAR QColor color(Qt::black); QVector names; - int t_id = this->m_robotId%100 + Color::RED; + int t_id = (ids[this->m_robotId]/36); + + if(((ids[this->m_robotId]/6)%6) < 4){ + t_id -= 1; + } for (const char *str : Color::_names()) { - printf("ID: %d\n", t_id%10); - if (t_id%10 == Color::_from_string(str)) { + if (t_id == Color::_from_string(str)) { QString correctColor(str); if (QColor::isValidColor(correctColor)) { color = QColor(correctColor); @@ -93,7 +97,7 @@ void RobotWidget::update() { int offset_x = static_cast(m_index) * 50; int offset_y = 0; int teamColor = Vision::singleton().getTeamColor(); - + Players players = vss.players( static_cast(teamColor) ); diff --git a/src/Windows/RobotWidget.h b/src/Windows/RobotWidget.h index b2f7d3d..2b83d89 100755 --- a/src/Windows/RobotWidget.h +++ b/src/Windows/RobotWidget.h @@ -32,6 +32,7 @@ class RobotWidget : public QWidget { QPixmap m_borderImage; QPixmap m_numbersImage; uint m_robotId; + std::vector ids = {204, 240, 276, 174, 246, 282, 180, 216, 288, 186, 222, 258}; }; #endif // ROBOTWIDGET_H diff --git a/videos/5v5.mp4 b/videos/5v5.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..def037e71a1317105af9282620cdf1763da92f61 GIT binary patch literal 5446000 zcmeF430#fa_y11=B55>JCn8f+<}{rWiHl5`ne-*O_gd?{KO7E+Yv<|X=IG(-%;AV~ 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