public bool isCellIlluminated(IPixelReadable image, int x, int y, float blackBrightnessLowerBound, float blackBrightnessUpperBound, int plusMinusSpread, int brightnessErrorCount)
{
var cellColor = image.getPixel(x, y);
var cellColorPlus = image.getPixel(x + plusMinusSpread, y);
var cellColorMinus = image.getPixel(x - plusMinusSpread, y);
var upCellColorPlus = image.getPixel(x, y + plusMinusSpread);
var upCellColorMinus = image.getPixel(x, y - plusMinusSpread);
var brightness = cellBrightness(cellColor);
var brightness2 = cellBrightness(cellColorPlus);
var brightness3 = cellBrightness(cellColorMinus);
var brightness4 = cellBrightness(upCellColorMinus);
var brightness5 = cellBrightness(upCellColorMinus);
int brightnessCount = 0;
brightnessCount += (brightness <blackBrightnessLowerBound || brightness> blackBrightnessUpperBound) ? 0 : 1;
brightnessCount += (brightness2 <blackBrightnessLowerBound || brightness2> blackBrightnessUpperBound) ? 0 : 1;
brightnessCount += (brightness3 <blackBrightnessLowerBound || brightness3> blackBrightnessUpperBound) ? 0 : 1;
brightnessCount += (brightness4 <blackBrightnessLowerBound || brightness4> blackBrightnessUpperBound) ? 0 : 1;
brightnessCount += (brightness5 <blackBrightnessLowerBound || brightness5> blackBrightnessUpperBound) ? 0 : 1;
if (brightnessCount < brightnessErrorCount || y > 971)//allow 2 errors, 971 is height of top row
{
return(false);
}
else
{
return(true);
}
}
public void updateGridWithImage(
IPixelReadable image,
Grid grid,
int startingX,
int startingY,
int cellWidth,
int cellHeight,
int columnCount,
int rowCount,
float blackBrightnessLowerBound,
float blackBrightnessUpperBound,
int plusMinusSpread,
int brightnessErrorCount,
bool areCellsInited = false
)
{
//initing cells if not already correctly allocated
if (!areCellsInited)
{
initCells(rowCount, columnCount);
}
for (int x = 0; x < columnCount; x++)
{
for (int y = 0; y < rowCount; y++)
{
int xPixelPos = startingX + x * cellWidth;
int yPixelPos = startingY + y * cellHeight;
cells[rowCount - y - 1][x] = isCellIlluminated(image, xPixelPos, yPixelPos, blackBrightnessLowerBound, blackBrightnessUpperBound, plusMinusSpread, brightnessErrorCount);
}
}
grid.cells = cells;
}
public List <int> getUpNextColors(IPixelReadable image, int topX, int topY, int topX2, int topY2, int cellHeight, int rowCount, int secondSquareHeightOffset, int secondSquareHeightOffset2)
{
var retr = new List <int>();
//get top one
int yPixelPos1 = (topY);
int yPixelPos2 = (yPixelPos1 + secondSquareHeightOffset);
Color32 cell1Color = image.getPixel(topX, 1080 - yPixelPos1);
Color32 cell2Color = image.getPixel(topX, 1080 - yPixelPos2);
int color1Name = getClosestColor(cell1Color);
int color2Name = getClosestColor(cell2Color);
if (color1Name == -1 && color2Name == -1)
{
retr.Add(-1);
}
else if (color1Name == -1)
{
retr.Add(color2Name);
}
else if (color2Name == -1)
{
retr.Add(color1Name);
}
else
{
retr.Add(color1Name);
}
//get rest
for (int y = 0; y < rowCount; y++)
{
yPixelPos1 = (topY2 + cellHeight * y);
yPixelPos2 = (yPixelPos1 + secondSquareHeightOffset2);
cell1Color = image.getPixel(topX2, 1080 - yPixelPos1);
cell2Color = image.getPixel(topX2, 1080 - yPixelPos2);
color1Name = getClosestColor(cell1Color);
color2Name = getClosestColor(cell2Color);
if (color1Name == -1 && color2Name == -1)
{
retr.Add(-1);
}
else if (color1Name == -1)
{
retr.Add(color2Name);
}
else if (color2Name == -1)
{
retr.Add(color1Name);
}
else
{
retr.Add(color1Name);
}
}
return(retr);
}
public void updateGridIncomingDangerousPieces(Grid grid,
IPixelReadable image,
int incomingDangerousPiecesX,
int incomingDangerousPiecesStartY,
int incomingDangerousPiecesEndY,
float blackBrightnessLowerBound,
int boxHeightDivisor,
int plusMinusSpread)
{
int numberOfColoredPieces = 0;
for (int i = incomingDangerousPiecesStartY; i < incomingDangerousPiecesEndY; i++)
{
numberOfColoredPieces += isCellIlluminated(image, incomingDangerousPiecesX, i, blackBrightnessLowerBound, 1.0f, plusMinusSpread, 4)?1:0;
}
grid.incomingDangerousPieces = numberOfColoredPieces / boxHeightDivisor;
}
void Start()
{
currentState = ProgramState.ManualControl;
WebCamTexture webTex = new WebCamTexture(WebCamTexture.devices[1].name);
webTex.Play();
texReader = new WebCamTextureReader(webTex);
//texReader = new ScreenShotTextureReader();
parser = new ImageParser();
if (!isTraining)
{
serialPort = new SerialPort("COM4");
serialPort.Open();
}
if (isTraining)
{
threader.messageQueue = new ConcurrentQueue <string>();
ThreadStart start = new ThreadStart(threader.runTuner);
Thread t = new Thread(start);
t.Start();
}
//var hidden = new float[][]{new float[]{-0.06903733f,-0.1204211f,-0.1170338f,0.03330595f,-0.0929533f,0.1004087f,0.0253228f,-0.07049648f,0.1561288f,-0.2057665f},new float[]{-0.1833734f,0.2184264f,0.04389104f,0.03153691f,0.1989222f,-0.004495893f,-0.1988735f,-0.05761508f,-0.03419961f,-0.1252105f},new float[]{-0.1174469f,0.06082164f,0.1511514f,-0.07508145f,0.1869553f,0.2032531f,0.08316454f,-0.07734036f,0.160016f,-0.2196597f},new float[]{-0.04042799f,0.12335f,-0.2520556f,-0.04117061f,0.1304957f,-0.01909676f,0.07300739f,0.05919087f,0.02102444f,-0.09814784f},new float[]{-0.1872339f,-0.1362969f,0.1683453f,-0.01297639f,0.07160946f,0.04766374f,0.1250072f,0.1642009f,0.09859828f,-0.07657336f},new float[]{0.0426106f,0.1403711f,-0.1820064f,-0.06172101f,0.1371788f,0.03265697f,-0.0272984f,-0.09486318f,0.08233191f,-0.02668947f}};
//var output = new float[]{0.1153422f,-0.08480756f,-0.03375334f,0.1751222f,0.1993017f,0.1691856f};
//var hidden = new float[][]{new float[]{0.1062265f,0.07877557f,0.1296688f,0.1801857f,0.155361f,0.08026402f,5.229413E-05f,0.0513033f,-0.04129005f,0.1580591f},new float[]{0.07237879f,-0.08428323f,-0.1284456f,0.1626194f,0.1416797f,0.2010917f,-0.04338667f,0.1170366f,-0.05595298f,0.04115711f},new float[]{-0.0725678f,0.0803528f,-0.1890458f,-0.01033701f,-0.1815529f,0.0845101f,0.04547426f,0.1759871f,0.1553514f,0.05655741f},new float[]{-0.03995487f,0.186867f,-0.1791575f,-0.05288832f,0.009598507f,0.09033263f,0.008156282f,0.09895851f,-0.02606005f,0.0123509f},new float[]{-0.1431304f,0.03786864f,-0.1379245f,-0.1383549f,-0.2064656f,0.05489919f,-0.1603064f,-0.1823927f,0.1994664f,0.0003644727f},new float[]{-0.1313158f,-0.01504898f,-0.07030262f,-0.186277f,0.1034396f,-0.1876001f,0.06108657f,0.1755974f,0.2439985f,-0.1074236f}};
//var output = new float[]{-0.1634287f,0.1086006f,0.07287102f,0.1285644f,0.06330933f,-0.145795f};
//var hidden = new float[][]{new float[]{0.1493298f,0.01999732f,0.1369107f,0.1883943f,-0.1532951f,0.1624803f,0.1441682f,0.08189679f,-0.1258692f,0.1400606f},new float[]{0.1411773f,0.1465782f,-0.1582646f,0.09787317f,-0.1013228f,0.1742776f,-0.09175301f,-0.04335905f,-0.1535288f,-0.1726231f},new float[]{0.1423891f,0.1568068f,-0.1309288f,-0.16624f,-0.179458f,-0.04458414f,-0.07536326f,0.1750511f,0.06456359f,0.1614914f},new float[]{-0.06910742f,0.1849477f,-0.1562149f,-0.02061264f,0.09389784f,0.1115483f,0.1832086f,0.1280793f,0.06631156f,0.007651481f},new float[]{0.1185598f,0.1117894f,-0.1006476f,0.01884162f,0.04223451f,-0.06615675f,-0.03255002f,-0.1742624f,0.06808273f,-0.08383059f},new float[]{0.1309216f,-0.005340355f,0.1106042f,0.07571947f,-0.07535377f,0.204163f,-0.02816167f,-0.1554123f,0.1706816f,-0.04058816f}};
//var output = new float[]{-0.07528235f,0.04620438f,0.04189136f,0.08600978f,0.1298999f,-0.2040185f};
var hidden = new float[][] { new float[] { 0.194341f, 0.1434416f, 0.0713096f, 0.1653562f, 0.1112117f, 0.1232969f, -0.01119053f, 0.03627405f, -0.1254188f, 0.01899251f, -0.05036948f }, new float[] { 0.05425321f, -0.1496129f, 0.0816373f, 0.1543122f, -0.1064251f, 0.1125381f, 0.08268484f, 0.1927576f, 0.2012903f, 0.2134653f, 0.05713469f }, new float[] { 0.03931943f, 0.1033663f, -0.3848397f, -0.07148883f, -0.03369519f, 0.06521149f, 0.01828165f, -0.1288408f, -0.01749198f, -0.07911009f, 0.06041071f }, new float[] { -0.08144363f, 0.101594f, -0.175469f, -0.1271559f, 0.1225737f, -0.08820423f, -0.1741386f, 0.1383524f, 0.07709136f, -0.08639109f, -0.06383685f }, new float[] { -0.04410164f, 0.1367995f, 0.05679908f, 0.1721974f, -0.1239951f, -0.2085233f, 0.02573769f, -0.02817038f, -0.07766398f, -0.1140089f, -0.08351984f }, new float[] { -0.1507141f, 0.008166309f, 0.1841051f, -0.0453295f, 0.03497292f, -0.08636673f, -0.02734959f, -0.1324452f, -0.00981016f, -0.167251f, -0.07732157f } };
var output = new float[] { -0.0354594f, 0.09784601f, 0.1386255f, 0.06091305f, 0.01426123f, -0.05693473f };
ai = new AI(hidden, output);
InitGrid();
addNewPiece(0);
provider = new ImageProvider();
drawGrid(grid1);
}