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Commit bb7fe1f7 authored by Wagner José Kramer Vieira's avatar Wagner José Kramer Vieira
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update 14-10

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VSSS
\ No newline at end of file
VSSS.pro.user
View file @ bb7fe1f7
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.8.1, 2019-10-12T14:18:45. -->
<!-- Written by QtCreator 4.8.1, 2019-10-12T14:24:16. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
......@@ -293,19 +293,20 @@
</valuelist>
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="QString" key="ProjectExplorer.CustomExecutableRunConfiguration.Executable"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Custom Executable</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">VSSS</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/kramer/VSSS/VSSS.pro</value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">VSSS.pro</value>
<value type="QString" key="RunConfiguration.Arguments"></value>
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
<value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
<value type="QString" key="RunConfiguration.WorkingDirectory"></value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default"></value>
<value type="QString" key="RunConfiguration.WorkingDirectory.default">/home/kramer/build-VSSS-Desktop-Debug</value>
</valuemap>
<value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
......
backend.cpp
View file @ bb7fe1f7
......@@ -10,6 +10,7 @@
#include "ui_mainwindow.h"
#include <experimental/filesystem>
#include <math.h>
#define PI 3.14159265
using namespace std;
using namespace cv;
using namespace Global;
......@@ -17,14 +18,14 @@ using namespace Global;
namespace fs = std::experimental::filesystem;
std::chrono::high_resolution_clock::time_point lastFrame;
QTimer timer;
int counter = 0;
double counter = 0;
void countFrames(){
fps = frames;
frames = 0;
QTimer::singleShot(1000, &countFrames);
};
double angleBetweenTwoPoints(Point2f p1, Point2f p2) {
double angleBetweenTwoPoints(Point2d p1, Point2d p2) {
if(p1.y > p2.y){
double x = p2.x - p1.x;
double y = p2.y - p1.y;
......@@ -58,7 +59,7 @@ void getFrame(){
timer.stop();
return;
}
if (counter == cap.get(CAP_PROP_FRAME_COUNT))
if (fabs(counter) == fabs(cap.get(CAP_PROP_FRAME_COUNT)))
{
cap.set(CAP_PROP_POS_FRAMES, 0);
counter = 0;
......@@ -141,18 +142,18 @@ void findBall() {
std::sort(contours.begin(), contours.end(), []( std::vector<cv::Point> contour1, std::vector<cv::Point> contour2 ) {
double i = fabs( contourArea(cv::Mat(contour1)) );
double j = fabs( contourArea(cv::Mat(contour2)) );
return ( i < j );
return ( i > j );
});
if(contours.size() > 0){
Point2f center;
float radius;
minEnclosingCircle(contours[contours.size()-1], center, radius);
minEnclosingCircle(contours[0], center, radius);
if(radius > 10){
ballPosition = center;
return;
}
}
ballPosition = Point2f(-NAN, -NAN);
ballPosition = Point2d(static_cast<double>(-NAN), static_cast<double>(-NAN));
}
void detectAlly() {
......@@ -179,20 +180,18 @@ void detectAlly() {
bool rob5Found = false;
for (const auto &contour : contours) {
if(contourArea(contour) > 100){
vector<Point2f> points;
vector<Point2d> points;
approxPolyDP(contour, points, 0.05 * arcLength(contour, true), true);
if (points.size() == 3) {
if(!rob3Found){
posRobot1 = Point2f((points[0].x + points[1].x + points[2].x) / 3,
(points[0].y + points[1].y + points[2].y) / 3);
posRobots[0] = (points[0] + points[1] + points[2])/3;
lastAllyFormats.emplace_back(points);
rob3Found = true;
}
}
if (points.size() == 4) {
if(!rob4Found){
posRobot2 = Point2f((points[0].x + points[1].x + points[2].x + points[3].x) / 4,
(points[0].y + points[1].y + points[2].y + points[3].y) / 4);
posRobots[1] = (points[0] + points[1] + points[2] + points[3])/4;
lastAllyFormats.emplace_back(points);
rob4Found = true;
}
......@@ -200,8 +199,7 @@ void detectAlly() {
}
if (points.size() == 5) {
if(!rob5Found){
posRobot3 = Point2f((points[0].x + points[1].x + points[2].x + points[3].x + points[4].x) / 5,
(points[0].y + points[1].y + points[2].y + points[3].y + points[4].y) / 5);
posRobots[2] = (points[0] + points[1] + points[2] + points[3] + points[4])/5;
lastAllyFormats.emplace_back(points);
}
......@@ -216,11 +214,11 @@ void detectAlly() {
findContours(thresholdAllyF, contours, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE, Point(0, 0));
qApp->processEvents();
vector<vector<Point2f>> triangles;
vector<vector<Point2d>> triangles;
lastTriangles.clear();
for (const auto &contour : contours) {
if(contourArea(contour) > 100){
vector<Point2f> points;
vector<Point2d> points;
approxPolyDP(contour, points, arcLength(contour, true) * 0.05, true);
if (points.size() == 3) {
......@@ -234,20 +232,20 @@ void detectAlly() {
}
if (triangles.size() == 6)
for (int j = 0; j < 3; j++) {
vector<Point2f> mediaT0;
vector<Point2d> mediaT0;
mediaT0.emplace_back(
Point2f((triangles[0][0].x + triangles[0][1].x) / 2, (triangles[0][0].y + triangles[0][1].y) / 2));
Point2d((triangles[0][0].x + triangles[0][1].x) / 2, (triangles[0][0].y + triangles[0][1].y) / 2));
mediaT0.emplace_back(
Point2f((triangles[0][1].x + triangles[0][2].x) / 2, (triangles[0][1].y + triangles[0][2].y) / 2));
Point2d((triangles[0][1].x + triangles[0][2].x) / 2, (triangles[0][1].y + triangles[0][2].y) / 2));
mediaT0.emplace_back(
Point2f((triangles[0][2].x + triangles[0][0].x) / 2, (triangles[0][2].y + triangles[0][0].y) / 2));
Point2d((triangles[0][2].x + triangles[0][0].x) / 2, (triangles[0][2].y + triangles[0][0].y) / 2));
for (std::size_t k = 1; k < triangles.size(); k++) {
vector<Point2f> mediaTi;
mediaTi.emplace_back(Point2f((triangles[k][0].x + triangles[k][1].x) / 2,
vector<Point2d> mediaTi;
mediaTi.emplace_back(Point2d((triangles[k][0].x + triangles[k][1].x) / 2,
(triangles[k][0].y + triangles[k][1].y) / 2));
mediaTi.emplace_back(Point2f((triangles[k][1].x + triangles[k][2].x) / 2,
mediaTi.emplace_back(Point2d((triangles[k][1].x + triangles[k][2].x) / 2,
(triangles[k][1].y + triangles[k][2].y) / 2));
mediaTi.emplace_back(Point2f((triangles[k][2].x + triangles[k][0].x) / 2,
mediaTi.emplace_back(Point2d((triangles[k][2].x + triangles[k][0].x) / 2,
(triangles[k][2].y + triangles[k][0].y) / 2));
vector<double> distance;
for (size_t x = 0; x < 3; x++) {
......@@ -255,99 +253,80 @@ void detectAlly() {
distance.emplace_back(norm(mediaT0[x] - mediaTi[y]));
}
}
int pos = max_element(distance.begin(), distance.end()) - distance.begin();
size_t x = floor(pos/3);
int pos = static_cast<int>(max_element(distance.begin(), distance.end()) - distance.begin());
size_t x = static_cast<size_t>(floor(pos/3));
size_t y = pos%3;
if (norm(triangles[0][(x+2)%3] - triangles[k][(y+2)%3]) < DISTANCE && std::abs(angleBetweenTwoPoints(triangles[0][x], triangles[0][(x+1)%3]) - angleBetweenTwoPoints(triangles[k][y], triangles[k][(y+1)%3])) < 10) {
Point2f media = (triangles[0][0] + triangles[0][1] + triangles[0][2]
Point2d media = (triangles[0][0] + triangles[0][1] + triangles[0][2]
+ triangles[k][0] + triangles[k][1] + triangles[k][2]) / 6;
double dist1 = norm(posRobot1 - media);
double dist2 = norm(posRobot2 - media);
double dist3 = norm(posRobot3 - media);
if ((dist1 < dist2) && (dist1 < dist3)) {
frenteRobot1 = (triangles[0][(x+2)%3] + triangles[k][(y+2)%3]) / 2;
if (norm(posRobot1 - triangles[0][x]) > norm(posRobot1 - triangles[0][(x+1)%3])) {
contornosRobot1.clear();
contornosRobot1.emplace_back(triangles[0][x]);
if (norm(posRobot1 - triangles[k][y]) > norm(posRobot1 - triangles[k][(y+1)%3])) {
contornosRobot1.emplace_back(triangles[k][y]);
contornosRobot1.emplace_back(((triangles[0][x] - posRobot1) * -1) + posRobot1);
contornosRobot1.emplace_back(((triangles[k][y] - posRobot1) * -1) + posRobot1);
} else {
contornosRobot1.emplace_back(triangles[k][(y+1)%3]);
contornosRobot1.emplace_back(((triangles[0][x] - posRobot1) * -1) + posRobot1);
contornosRobot1.emplace_back(((triangles[k][(y+1)%3] - posRobot1) * -1) + posRobot1);
}
} else {
contornosRobot1.clear();
contornosRobot1.emplace_back(triangles[0][(x+1)%3]);
if (norm(posRobot1 - triangles[k][y]) > norm(posRobot1 - triangles[k][(y+1)%3])) {
contornosRobot1.emplace_back(triangles[k][y]);
contornosRobot1.emplace_back(((triangles[0][(x+1)%3] - posRobot1) * -1) + posRobot1);
contornosRobot1.emplace_back(((triangles[k][y] - posRobot1) * -1) + posRobot1);
} else {
contornosRobot1.emplace_back(triangles[k][(y+1)%3]);
contornosRobot1.emplace_back(((triangles[0][(x+1)%3] - posRobot1) * -1) + posRobot1);
contornosRobot1.emplace_back(((triangles[k][(y+1)%3] - posRobot1) * -1) + posRobot1);
}
vector<tuple<double, size_t>> distRobots;
distRobots.emplace_back(tuple(norm(posRobots[0] - media), 0));
distRobots.emplace_back(tuple(norm(posRobots[1] - media), 1));
distRobots.emplace_back(tuple(norm(posRobots[2] - media), 2));
sort(distRobots.begin(), distRobots.end(), [=](tuple<double, int> a, tuple<double, int> b){
return get<double>(a) < get<double>(b);
});
size_t robotIndex = get<size_t>(distRobots[0]);
frenteRobots[robotIndex] = (triangles[0][(x+2)%3] + triangles[k][(y+2)%3]) / 2;
sort(triangles[0].begin(), triangles[0].end(), [=](Point2d a, Point2d b){
return norm(posRobots[robotIndex] - a) > norm(posRobots[robotIndex] - b);
});
sort(triangles[k].begin(), triangles[k].end(), [=](Point2d a, Point2d b){
return norm(posRobots[robotIndex] - a) > norm(posRobots[robotIndex] - b);
});
contornosRobots[robotIndex].clear();
Point2d aux = frenteRobots[robotIndex] - posRobots[robotIndex];
Point2d esq, dir;
double angulo = atan2(aux.y, aux.x) * 180 / PI;
if(angulo < -5 && angulo > -175 ){
if(triangles[0][0].x < triangles[k][0].x){
esq = triangles[0][0];
dir = triangles[k][0];
}else {
dir = triangles[0][0];
esq = triangles[k][0];
}
} else if (dist2 < dist1 && dist2 < dist3) {
frenteRobot2 = (triangles[0][(x+2)%3] + triangles[k][(y+2)%3]) / 2;
if (norm(posRobot2 - triangles[0][x]) > norm(posRobot2 - triangles[0][(x+1)%3])) {
contornosRobot2.clear();
contornosRobot2.emplace_back(triangles[0][x]);
if (norm(posRobot2 - triangles[k][y]) > norm(posRobot2 - triangles[k][(y+1)%3])) {
contornosRobot2.emplace_back(triangles[k][y]);
contornosRobot2.emplace_back(((triangles[0][x] - posRobot2) * -1) + posRobot2);
contornosRobot2.emplace_back(((triangles[k][y] - posRobot2) * -1) + posRobot2);
} else {
contornosRobot2.emplace_back(triangles[k][(y+1)%3]);
contornosRobot2.emplace_back(((triangles[0][x] - posRobot2) * -1) + posRobot2);
contornosRobot2.emplace_back(((triangles[k][(y+1)%3] - posRobot2) * -1) + posRobot2);
}
} else {
contornosRobot2.clear();
contornosRobot2.emplace_back(triangles[0][(x+1)%3]);
if (norm(posRobot2 - triangles[k][y]) > norm(posRobot2 - triangles[k][(y+1)%3])) {
contornosRobot2.emplace_back(triangles[k][y]);
contornosRobot2.emplace_back(((triangles[0][(x+1)%3] - posRobot2) * -1) + posRobot2);
contornosRobot2.emplace_back(((triangles[k][y] - posRobot2) * -1) + posRobot2);
} else {
contornosRobot2.emplace_back(triangles[k][(y+1)%3]);
contornosRobot2.emplace_back(((triangles[0][(x+1)%3] - posRobot2) * -1) + posRobot2);
contornosRobot2.emplace_back(((triangles[k][(y+1)%3] - posRobot2) * -1) + posRobot2);
}
}else if(angulo > 5 && angulo < 175){
if(triangles[0][0].x < triangles[k][0].x){
dir = triangles[0][0];
esq = triangles[k][0];
}else{
esq = triangles[0][0];
dir = triangles[k][0];
}
} else {
frenteRobot3 = (triangles[0][(x+2)%3] + triangles[k][(y+2)%3]) / 2;
if (norm(posRobot3 - triangles[0][x]) > norm(posRobot3 - triangles[0][(x+1)%3])) {
contornosRobot3.clear();
contornosRobot3.emplace_back(triangles[0][x]);
if (norm(posRobot3 - triangles[k][y]) > norm(posRobot3 - triangles[k][(y+1)%3])) {
contornosRobot3.emplace_back(triangles[k][y]);
contornosRobot3.emplace_back(((triangles[0][x] - posRobot3) * -1) + posRobot3);
contornosRobot3.emplace_back(((triangles[k][y] - posRobot3) * -1) + posRobot3);
} else {
contornosRobot3.emplace_back(triangles[k][(y+1)%3]);
contornosRobot3.emplace_back(((triangles[0][x] - posRobot3) * -1) + posRobot3);
contornosRobot3.emplace_back(((triangles[k][(y+1)%3] - posRobot3) * -1) + posRobot3);
}else{
if(aux.x > 0){
if(triangles[0][0].y > triangles[k][0].y){
dir = triangles[0][0];
esq = triangles[k][0];
}else{
esq = triangles[0][0];
dir = triangles[k][0];
}
} else {
contornosRobot3.clear();
contornosRobot3.emplace_back(triangles[0][(x+1)%3]);
if (norm(posRobot3 - triangles[k][y]) > norm(posRobot3 - triangles[k][(y+1)%3])) {
contornosRobot3.emplace_back(triangles[k][y]);
contornosRobot3.emplace_back(((triangles[0][(x+1)%3] - posRobot3) * -1) + posRobot3);
contornosRobot3.emplace_back(((triangles[k][y] - posRobot3) * -1) + posRobot3);
} else {
contornosRobot3.emplace_back(triangles[k][(y+1)%3]);
contornosRobot3.emplace_back(((triangles[0][(x+1)%3] - posRobot3) * -1) + posRobot3);
contornosRobot3.emplace_back(((triangles[k][(y+1)%3] - posRobot3) * -1) + posRobot3);
}else{
if(triangles[0][0].y <= triangles[k][0].y){
dir = triangles[0][0];
esq = triangles[k][0];
}else{
esq = triangles[0][0];
dir = triangles[k][0];
}
}
}
aux = esq-dir;
Point2d rb(aux.x*cos(-90*PI/180)-aux.y*sin(-90 * PI/180), aux.x*sin(-90 * PI/180)+aux.y*cos(-90 * PI/180));
rb += dir;
aux = dir - rb;
Point2d lb(aux.x*cos(-90*PI/180)-aux.y*sin(-90 * PI/180), aux.x*sin(-90 * PI/180)+aux.y*cos(-90 * PI/180));
lb+=rb;
contornosRobots[robotIndex].emplace_back(esq);
contornosRobots[robotIndex].emplace_back(dir);
contornosRobots[robotIndex].emplace_back(rb);
contornosRobots[robotIndex].emplace_back(lb);
posRobots[robotIndex] = (esq + dir + rb + lb)/4;
triangles.erase(triangles.begin() + 0);
triangles.erase(triangles.begin() + k - 1);
triangles.erase(triangles.begin() + static_cast<int>(k - 1));
}
}
}
......@@ -369,19 +348,19 @@ void findEnemies() {
mu.emplace_back(moments(contours[i]));
}
vector<Point2f> mc;
vector<Point2d> mc;
for (size_t i = 0; i < mu.size(); i++) {
if ((mu[i].m10 / mu[i].m00) > 0)
mc.push_back(Point2f(mu[i].m10 / mu[i].m00, mu[i].m01 / mu[i].m00));
mc.push_back(Point2d(mu[i].m10 / mu[i].m00, mu[i].m01 / mu[i].m00));
}
if (mc.size() > 3) {
vector<Point2f> ret;
vector<Point2d> ret;
for (size_t i = 0; i < 3; i++) {
vector<Point2f> vectorBackup;
Point2f ponto(mc[0].x, mc[0].y);
vector<Point2d> vectorBackup;
Point2d ponto(mc[0].x, mc[0].y);
for (size_t j = 1; j < mc.size(); j++) {
if (norm(ponto - mc[j]) <= distanceTolerance) {
ponto = Point2f((int) ((ponto.x + mc[j].x) / 2), (int) ((ponto.y + mc[j].y) / 2));
ponto = Point2d(((ponto.x + mc[j].x) / 2), ((ponto.y + mc[j].y) / 2));
} else {
vectorBackup.push_back(mc[j]);
}
......
backend.h
View file @ bb7fe1f7
......@@ -2,8 +2,12 @@
#define BACKEND_HPP
#include <chrono>
#include <opencv2/opencv.hpp>
#include <QTimer>
extern std::chrono::high_resolution_clock::time_point lastFrame;
extern QTimer timer;
extern double counter;
double angleBetweenTwoPoints(cv::Point2f p1, cv::Point2f p2);
void startCapture();
void calibration();
......
cmake-build-debug/CMakeFiles/clion-log.txt 0 → 100644
View file @ bb7fe1f7
CMakeLists.txt not found in /home/kramer/gitlab/vsss Select CMakeLists.txt file...
global.cpp
View file @ bb7fe1f7
......@@ -8,8 +8,8 @@ using namespace cv;
namespace Global {
int defaultImageHeight;
vector<vector<Point2f>> lastTriangles;
vector<vector<Point2f>> lastAllyFormats;
vector<vector<Point2d>> lastTriangles;
vector<vector<Point2d>> lastAllyFormats;
bool showAllyThreshold = true;
bool showAllyFThreshold = true;
Mutex mtx;
......@@ -45,13 +45,13 @@ namespace Global {
const double proporcao = 7.5; ///< Proporção do tamanho do campo para píxels, equivale a 1 cm
const int comprimento = 150; ///< Largura do campo em cm
const int altura = 130; ///< Altura do campo em cm
const cv::Point2f marcas[] = {
cv::Point2f(25, 37.5),
cv::Point2f(65, 37.5),
cv::Point2f(105, 37.5),
cv::Point2f(25, 112.5),
cv::Point2f(65, 112.5),
cv::Point2f(105, 112.5)
const cv::Point2d marcas[] = {
cv::Point2d(25, 37.5),
cv::Point2d(65, 37.5),
cv::Point2d(105, 37.5),
cv::Point2d(25, 112.5),
cv::Point2d(65, 112.5),
cv::Point2d(105, 112.5)
}; ///< Posição das marcações do campo
const int alturaGol = 40; ///< Altura do gol
const int alturaAG = 70; ///< Altura da área do gol
......@@ -69,7 +69,7 @@ namespace Global {
int ballLS = 120; ///< Saturation mínimo
int ballUV = 255; ///< Value máximo
int ballLV = 120; ///< Value mínimo
cv::Point2f ballPosition(0, 0);
cv::Point2d ballPosition(0, 0);
///@}
/**
......@@ -85,7 +85,7 @@ namespace Global {
int enemyUV = 255; ///< Value máximo
int enemyLV = 120; ///< Value mínimo
double distanceTolerance = 15; ///< Tolerância de distancia entre pontos para considerar como um robô
vector<cv::Point2f> enemies;
vector<cv::Point2d> enemies;
///@}
/**
......@@ -94,18 +94,9 @@ namespace Global {
* @addtogroup Aliados
* @{
*/
cv::Point2f posRobot1(0,0);
cv::Point2f posRobot2(0,0);
cv::Point2f posRobot3(0,0);
cv::Point2f frenteRobot1(0,0);
cv::Point2f frenteRobot2(0,0);
cv::Point2f frenteRobot3(0,0);
std::vector<cv::Point2f> contornosRobot1;
std::vector<cv::Point2f> contornosRobot2;
std::vector<cv::Point2f> contornosRobot3;
vector<Point2d> posRobots(3);
vector<Point2d> frenteRobots(3);
vector<vector<Point2d>> contornosRobots(3);
int allyUH = 150; ///< Hue máximo
int allyLH = 100; ///< Hue mínimo
......
global.h
View file @ bb7fe1f7
......@@ -7,8 +7,8 @@ using namespace cv;
namespace Global {
extern int defaultImageHeight;
extern vector<vector<Point2f>> lastTriangles;
extern vector<vector<Point2f>> lastAllyFormats;
extern vector<vector<Point2d>> lastTriangles;
extern vector<vector<Point2d>> lastAllyFormats;
extern bool showAllyThreshold;
extern bool showAllyFThreshold;
extern Mutex mtx;
......@@ -44,7 +44,7 @@ namespace Global {
extern const double proporcao; ///< Proporção do tamanho do campo para píxels, equivale a 1 cm
extern const int comprimento; ///< Largura do campo em cm
extern const int altura; ///< Altura do campo em cm
extern const cv::Point2f marcas[]; ///< Posição das marcações do campo
extern const cv::Point2d marcas[]; ///< Posição das marcações do campo
extern const int alturaGol; ///< Altura do gol
extern const int alturaAG; ///< Altura da área do gol
extern const int larguraAG; ///< Largura da área do gol
......@@ -61,7 +61,7 @@ namespace Global {
extern int ballLS; ///< Saturation mínimo
extern int ballUV; ///< Value máximo
extern int ballLV; ///< Value mínimo
extern cv::Point2f ballPosition;
extern cv::Point2d ballPosition;
///@}
/**
......@@ -77,7 +77,7 @@ namespace Global {
extern int enemyUV; ///< Value máximo
extern int enemyLV; ///< Value mínimo
extern double distanceTolerance; ///< Tolerância de distancia entre pontos para considerar como um robô
extern vector<cv::Point2f> enemies;
extern vector<cv::Point2d> enemies;
///@}
/**
......@@ -86,18 +86,9 @@ namespace Global {
* @addtogroup Aliados
* @{
*/
extern cv::Point2f posRobot1;
extern cv::Point2f posRobot2;
extern cv::Point2f posRobot3;
extern cv::Point2f frenteRobot1;
extern cv::Point2f frenteRobot2;
extern cv::Point2f frenteRobot3;
extern std::vector<cv::Point2f> contornosRobot1;
extern std::vector<cv::Point2f> contornosRobot2;
extern std::vector<cv::Point2f> contornosRobot3;
extern vector<Point2d> posRobots;
extern vector<Point2d> frenteRobots;
extern vector<vector<Point2d>> contornosRobots;
extern int allyUH; ///< Hue máximo
extern int allyLH; ///< Hue mínimo
......
mainwindow.cpp
View file @ bb7fe1f7
......@@ -14,11 +14,11 @@ using namespace cv;
using namespace std;
void calcHomography(){
vector<Point2f> base;
base.push_back(Point2f(0, 0));
base.push_back(Point2f(0, 1300));
base.push_back(Point2f(1500, 1300));
base.push_back(Point2f(1500, 0));
vector<Point2d> base;
base.push_back(Point2d(0, 0));
base.push_back(Point2d(0, 1300));
base.push_back(Point2d(1500, 1300));
base.push_back(Point2d(1500, 0));
Global::homography = findHomography(Global::corners, base);
}
......@@ -35,10 +35,6 @@ MainWindow::MainWindow(QWidget *parent) :
Global::corners[2] = Point2f(100,100);
Global::corners[3] = Point2f(100,0);
calcHomography();
std::sort(Global::corners.begin(), Global::corners.end(),
[](const cv::Point2f &a, const cv::Point2f &b) {
return a.x < b.x;
});
// Conexão de sliders com variáveis
//Bola
connect(ui->sliderBallUH, &QSlider::valueChanged,[=](const int& value)->void{Global::ballUH = value; ui->lblBallUH->setText(QString::fromUtf8("UH = ")+QString::number(value));});
......@@ -74,16 +70,16 @@ MainWindow::MainWindow(QWidget *parent) :
// Outras conexões com variáveis
connect(ui->tabWidget, &QTabWidget::currentChanged, [=](const int& value)->void{Global::actualTab = value;});
connect(ui->LTX, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[1].x = value;calcHomography();});
connect(ui->LTY, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[1].y = value;calcHomography();});
connect(ui->BLX, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[2].x = value;calcHomography();});
connect(ui->BLY, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[2].y = value;calcHomography();});
connect(ui->BRX, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[3].x = value;calcHomography();});
connect(ui->BRY, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[3].y = value;calcHomography();});
connect(ui->RTX, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[0].x = value;calcHomography();});
connect(ui->RTY, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[0].y = value;calcHomography();});
connect(ui->btnAllyCenter, &QPushButton::clicked, [=](const bool& check){Global::showAllyThreshold = !Global::showAllyThreshold;});
connect(ui->btnAllyFrente, &QPushButton::clicked, [=](const bool& check){Global::showAllyFThreshold = !Global::showAllyFThreshold;});
connect(ui->LTX, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[0].x = value;calcHomography();});
connect(ui->LTY, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[0].y = value;calcHomography();});
connect(ui->BLX, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[3].x = value;calcHomography();});
connect(ui->BLY, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[3].y = value;calcHomography();});
connect(ui->BRX, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[2].x = value;calcHomography();});
connect(ui->BRY, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[2].y = value;calcHomography();});
connect(ui->RTX, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[1].x = value;calcHomography();});
connect(ui->RTY, qOverload<int>(&QSpinBox::valueChanged), [=](const int& value)->void{Global::corners[1].y = value;calcHomography();});
connect(ui->btnAllyCenter, &QPushButton::clicked, [=](){Global::showAllyThreshold = !Global::showAllyThreshold;});
connect(ui->btnAllyFrente, &QPushButton::clicked, [=](){Global::showAllyFThreshold = !Global::showAllyFThreshold;});
}
......@@ -116,116 +112,112 @@ void MainWindow::on_btnCamera_clicked()
}
void MainWindow::setUiImage(){
QImage qimg;
qApp->processEvents();
double h = Global::defaultImageHeight;
double w = (Global::frame.cols * h)/Global::frame.rows;
Global::mtx.lock();
try {
switch (Global::actualTab) {
case 0:
if(Global::cameraStatus == 0){
qimg = QImage(Global::frame.data, Global::frame.cols, Global::frame.rows, Global::frame.step, QImage::Format_RGB888);
if(Global::frame.rows > 0){
QImage qimg;
qApp->processEvents();