public static LinkedList <shape> addLine(LinkedList <shape> s, int a, int b)
{
shape old = null;
foreach (shape sh in s)
{
if (sh.points.Contains(a) && sh.points.Contains(b))
{
old = sh;
}
}
s.Remove(old);
shape new1 = new shape(new int[] {});
shape new2 = new shape(new int[0]);
foreach (int i in old.points)
{
if (i <= a || i >= b)
{
new1.points.AddLast(i);
}
if (i >= a && i <= b)
{
new2.points.AddLast(i);
}
}
s.AddLast(new1);
s.AddLast(new2);
return(s);
}
void motor_preSolve(cpConstraint motor, cpSpace space)
{
float dt = space.GetCurrentTimeStep();
float target_x = CCMouse.Instance.Position.x;
paint = new shape
{
point1 = new cpVect(target_x, -1000.0f),
point2 = new cpVect(target_x, 1000.0f),
};
float max_v = 500.0f;
float target_v = cp.cpfclamp(cp.bias_coef(0.5f, dt / 1.2f) * (target_x - balance_body.GetPosition().x) / dt, -max_v, max_v);
float error_v = (target_v - balance_body.GetVelocity().x);
float target_sin = 3.0e-3f * cp.bias_coef(0.1f, dt) * error_v / dt;
float max_sin = cp.cpfsin(0.6f);
balance_sin = cp.cpfclamp(balance_sin - 6.0e-5f * cp.bias_coef(0.2f, dt) * error_v / dt, -max_sin, max_sin);
float target_a = (float)Math.Asin(cp.cpfclamp(-target_sin + balance_sin, -max_sin, max_sin));
float angular_diff = (float)Math.Asin(cpVect.cpvcross(balance_body.GetRotation(), cpVect.cpvforangle(target_a)));
float target_w = cp.bias_coef(0.1f, dt / 0.4f) * (angular_diff) / dt;
float max_rate = 50.0f;
float rate = cp.cpfclamp(wheel_body.GetAngularVelocity() + balance_body.GetAngularVelocity() - target_w, -max_rate, max_rate);
motor.SetRate(cp.cpfclamp(rate, -max_rate, max_rate));
motor.SetMaxForce(8.0e4f);
}
static void Main(string[] args)
{
shape sh=new shape();
sh.sum();
square sh =new square();
sh.sum();
}
public static Shape CreateObject(shape Shape, renderType RenderType, Transform transform, float radius)
{
switch (Shape)
{
case shape.SPHERE:
if (RenderType == renderType.WIRE_FRAME)
{
return(new WireFrameSphere(transform, radius));
}
else
{
return(new ShadedSphere(transform, radius));
}
break;
case shape.CUBE:
if (RenderType == renderType.WIRE_FRAME)
{
return(new WireFrameCube(transform, radius));
}
else
{
return(new ShadedCube(transform, radius));
}
break;
default:
return(null);
break;
}
}
public static ndarray ToCategorial(ndarray y, int?num_classes = null, dtype dtype = null)
{
var input_shape = y.shape;
List <long> new_shape = new List <long>();
if (input_shape.lastDim == 1 && input_shape.iDims.Length > 1)
{
new_shape = input_shape.iDims.Take(input_shape.iDims.Length - 1).ToList();
}
else
{
new_shape = input_shape.iDims.ToList();
}
y = y.ravel();
if (num_classes.HasValue)
{
num_classes = (int)np.max(y) + 1;
}
var n = y.shape.iDims[0];
var categorical = np.zeros((n, num_classes), dtype: dtype);
categorical[np.arange(n), y] = 1;
new_shape.Add(num_classes.Value);
var output_shape = new shape(new_shape);
categorical = np.reshape(categorical, output_shape);
return(categorical);
}
internal void AssertShape(shape s, int s0, int s1, int s2)
{
Assert.AreEqual(s.iDims.Length, 3);
Assert.AreEqual(s.iDims[0], s0);
Assert.AreEqual(s.iDims[1], s1);
Assert.AreEqual(s.iDims[2], s2);
}
private void panelDrawing_MouseUp(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Right)
{
return;
}
if (radioButtonFreeHand.Checked)
{
return;
}
if (radioButtonText.Checked)
{
return;
}
if (radioButtonEraser.Checked)
{
return;
}
if (radioButtonSelector.Checked)
{
return;
}
ArrayList shapes = getPage();
Graphics g = panelDrawing.CreateGraphics();
Point p = new Point(e.X, e.Y);
shape s = (shape)shapes[shapes.Count - 1];
s.Update(g, p);
}
public void SetObject(int index, shape obj)
{
if (index < size)
{
objs[index] = obj;
}
}
private void button3_Click(object sender, EventArgs e)
{
//float x = match_shape(ab, bc);
////richTextBox1.AppendText(Environment.NewLine);
//textBox1.Text = Convert.ToString(x);
for (int i = 0; i < lst.Count(); i++)
{
b2 = new Bitmap(lst[i]);
i2 = b2;
bc = new shape(b2);
bc.measure();
matches[i] = match_shape(ab, bc);
richTextBox1.AppendText(matches[i].ToString());
richTextBox1.AppendText(Environment.NewLine);
}
for (int i = 0; i < lst.Count(); i++)
{
if (matches[i] > max)
{
max = matches[i];
index = i;
}
}
textBox1.Text = lst[index];
}
private void buttonCleer_Click(object sender, EventArgs e)
{
SelectorShape = null;
ArrayList lines = getPage();
lines.RemoveRange(0, lines.Count);
panelDrawing.Invalidate();
}
public ActionResult DeleteConfirmed(int id)
{
shape shape = db.shapes.Find(id);
db.shapes.Remove(shape);
db.SaveChanges();
return(RedirectToAction("Index"));
}
internal void AssertShape(shape s, int s0, int s1, int s2, int s3, int s4)
{
Assert.AreEqual(s.iDims.Length, 5);
Assert.AreEqual(s.iDims[0], s0);
Assert.AreEqual(s.iDims[1], s1);
Assert.AreEqual(s.iDims[2], s2);
Assert.AreEqual(s.iDims[3], s3);
Assert.AreEqual(s.iDims[4], s4);
}
private void button1_Click(object sender, EventArgs e)
{
openFileDialog1.ShowDialog();
b1 = new Bitmap(openFileDialog1.FileName);
i1 = b1;
ab = new shape(b1);
ab.measure();
textBox2.Text = openFileDialog1.FileName;
}
static void Main(string[] args)
{
shape shape = new shape();
Subscriber1 sub1 = new Subscriber1(shape);
Subscriber2 sub2 = new Subscriber2(shape);
shape.Draw();
Console.Read();
}
public ActionResult Edit(shape shape)
{
if (ModelState.IsValid)
{
db.Entry(shape).State = EntityState.Modified;
db.SaveChanges();
return(RedirectToAction("Index"));
}
return(View(shape));
}
public float match_shape(shape s1, shape s2)
{
//the last function
int[,] m;
int total_pixels, matched_pixels;
float match;
total_pixels = matched_pixels = 0;
s1.measure();
s2.measure();
s2.scale(s2.diag_length / s1.diag_length);
s2.measure();
s1.fit();
s2.fit();
s1.measure();
s2.measure();
int w = s1.width; if (s2.width < w)
{
w = s2.width;
}
int h = s1.height; if (s2.height < h)
{
h = s2.height;
}
m = new int[w, h];
for (int j = 0; j < h - 1; j++)
{
for (int i = 0; i < w - 1; i++)
{
try
{
m[i, j] = s1.match_matrix[i, j] * s2.match_matrix[i, j];
}
catch (IndexOutOfRangeException e)
{
return(0);
}
}
}
total_pixels = w * h;
for (int j = 0; j < h - 1; j++)
{
for (int i = 0; i < w - 1; i++)
{
matched_pixels += m[i, j];
}
}
match = (float)matched_pixels / (float)s1.pixels * 100;
return(match);
//return 0;
}
public static bool IsInShape(shape s, int i, int j)
{
if (s == shape.square)
{
return((Math.Pow((i - 7), 2) + Math.Pow((j - 7), 2)) <= 12);
}
else
{
return(j - i > 0 && j + i < 6);
}
}
public ActionResult Create(shape shape)
{
if (ModelState.IsValid)
{
db.shapes.Add(shape);
db.SaveChanges();
return(RedirectToAction("Index"));
}
return(View(shape));
}
public ShapeResponse AddShape(ShapeRequest request)
{
var response = new ShapeResponse();
var context = new RuleTestEntities();
try
{
var newShape = new shape();
newShape.name = request.ShapeDto.name;
newShape.coordinates = request.ShapeDto.coordinates;
newShape.area = request.Area;
newShape.date_created = DateTime.Now;
newShape.is_valid = 1;
context.AddObject("shapes", newShape);
context.SaveChanges();
response.ShapeId = newShape.id_shape;
response.Acknowledge = AcknowledgeType.Success;
}
catch (InvalidOperationException exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
catch (ArgumentNullException exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
catch (NullReferenceException exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
catch (OptimisticConcurrencyException exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
catch (Exception exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
finally
{
context.Dispose();
}
return(response);
}
public int CheckObject(shape obj)
{
for (int i = 0; i < size; i++)
{
if (objs[i] == obj)
{
return(i);
}
}
return(-1);
}
private void addShape(shape s)
{
ArrayList shapes = getPage();
shapes.Add(s);
int page = int.Parse(textBoxNumberPage.Text);
ArrayList al = new ArrayList();
al.Add(page);
al.Add(s);
_undo.Insert(0, al);
}
public ShapeColorObject(double area, shape type, Hsv color, int x, int y)
{
this.area = area;
this.type = type;
this.color = color;
this.x = x;
this.y = y;
lineSegments = new List <LineSegment2D>();
previousPosition = pos;
prev = this;
objIndex = 0;
}
public ShapeResponse AddShape(ShapeRequest request)
{
var response = new ShapeResponse();
var context = new RuleTestEntities();
try
{
var newShape = new shape();
newShape.name = request.ShapeDto.name;
newShape.coordinates = request.ShapeDto.coordinates;
newShape.area = request.Area;
newShape.date_created = DateTime.Now;
newShape.is_valid = 1;
context.AddObject("shapes",newShape);
context.SaveChanges();
response.ShapeId = newShape.id_shape;
response.Acknowledge = AcknowledgeType.Success;
}
catch (InvalidOperationException exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
catch (ArgumentNullException exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
catch (NullReferenceException exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
catch (OptimisticConcurrencyException exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
catch (Exception exc)
{
log.Error(exc);
response.Message = exc.Message;
response.Acknowledge = AcknowledgeType.Failure;
}
finally
{
context.Dispose();
}
return response;
}
private void Eraser_Click(object sender, EventArgs e)
{
CurrentShape = shape.eraser;
Eraser.BackColor = SystemColors.GradientActiveCaption;
Pen_Button.BackColor = SystemColors.Control;
Line_Button.BackColor = SystemColors.Control;
Square_Button.BackColor = SystemColors.Control;
Elipse_Button.BackColor = SystemColors.Control;
Eraser_Size_Box.Visible = true;
Filling_Box.Visible = false;
Line_Box.Visible = false;
Line_Style_Box.Visible = false;
}
private void button1_Click(object sender, EventArgs e)
{
openFileDialog1.ShowDialog();
textBox1.Text = openFileDialog1.SafeFileName;
b1 = new Bitmap(openFileDialog1.FileName);
i1 = b1;
pictureBox1.Image = i1;
//gen_map(b1, im1);
ab = new shape(b1);
ab.measure();
//ab.fit();
//ab.scale(2f);
//ab.fit();
//ab.measure();
/*for (int i = 0; i < ab.pixels; i++)
* {
* richTextBox1.AppendText(Convert.ToString(ab.x[i]));
* richTextBox1.AppendText(",");
* richTextBox1.AppendText(Convert.ToString(ab.y[i]));
* richTextBox1.AppendText(" ");
* }
* richTextBox1.AppendText(" ");
* richTextBox1.AppendText(Convert.ToString(ab.diag_length));
* richTextBox1.AppendText(" ");
* richTextBox1.AppendText(Convert.ToString(ab.diag_slope));
* richTextBox1.AppendText(" ");
* richTextBox1.AppendText(Convert.ToString(ab.up));
* richTextBox1.AppendText(" ");
* richTextBox1.AppendText(Convert.ToString(ab.down));
* richTextBox1.AppendText(" ");
* richTextBox1.AppendText(Convert.ToString(ab.left));
* richTextBox1.AppendText(" ");
* richTextBox1.AppendText(Convert.ToString(ab.right));
* richTextBox1.AppendText(" ");
* richTextBox1.AppendText(Convert.ToString(ab.width));
* richTextBox1.AppendText(" ");
* richTextBox1.AppendText(Convert.ToString(ab.height));
*/
/*richTextBox1.AppendText(Environment.NewLine);
* for (int j = 0; j < ab.height-1; j++)
* {
* for (int i = 0; i < ab.width-1; i++)
* {
* if (ab.match_matrix[i, j] == 1) richTextBox1.AppendText("--");
* else richTextBox1.AppendText("//");
* }
* richTextBox1.AppendText(Environment.NewLine);
* }*/
}
static void Main(string[] args)
{
double allArea = 0;
for (int i = 0; i < 10; i++)
{
Console.Write("第" + (i + 1) + "个图形：");
shape sp = ShapeFactory.generateRandomShape(i);
allArea += sp.getArea();
Console.WriteLine("this area=" + sp.getArea());
Console.WriteLine("allArea=" + allArea);
}
Console.WriteLine("十个图形总面积（含不合法图形）为：" + allArea);
}
public override IShape GetShape(shape shape)
{
switch (shape)
{
case shape.Circle:
return(new Circle());
case shape.Square:
return(new Square());
default:
throw new ApplicationException(string.Format("can not create the object for {0} type", shape));
}
}
public override shape GetShape(string shape)
{
shape colors = null;
if (shape == "RECTANGLE")
{
colors = new Rectangle();
}
else if (shape == "CIRCLE")
{
colors = new circle();
}
return(colors);
}
private void radioButtonToolBox_CheckedChanged(object sender, EventArgs e)
{
if (radioButtonFreeHand.Checked)
{
panelDrawing.Cursor = new Cursor(GetType(), "Cursor1.cur");
}
if (radioButtonLine.Checked)
{
panelDrawing.Cursor = Cursors.Cross;
}
if (radioButtonEraser.Checked || radioButtonSelector.Checked)
{
panelDrawing.Cursor = Cursors.Arrow;
}
SelectorShape = null;
panelWidths.Visible = true;
if (radioButtonText.Checked)
{
panelDrawing.Cursor = Cursors.IBeam;
buttonFont.Visible = true;
panelWidths.Visible = false;
}
else
{
buttonFont.Visible = false;
}
checkedWidthsVisible();
if (textBoxContent.Visible)
{
shape s = handleText();
addShape(s);
}
panelFilledOrNonFilled.Visible = false;
if (radioButtonRectangle.Checked == true || radioButtonEllipse.Checked == true)
{
panelDrawing.Cursor = Cursors.Cross;
HandleBackColorAndShape(panelFilled);
HandleBackColorAndShape(panelNonFilled);
panelNonFilled.Invalidate();
panelFilled.Invalidate();
panelFilledOrNonFilled.Visible = true;
}
}
static void Main(string[] args)
{
double totalArea = 0;
Random random = new Random();
string[] a = { "正方形", "矩形", "三角形" };
for (int i = 0; i <= 10; i++)
{
int rand = random.Next(0, 3);
shape Sp = ShapeFactory.createShape(a[rand]);
Sp.set();
totalArea += Sp.getMeasure();
}
Console.WriteLine(totalArea);
}
public void Add(shape obj)
{
shape[] objs1;
objs1 = new shape[++size];
for (int i = 0; i < size - 1; i++)
{
objs1[i] = objs[i];
}
objs1[size - 1] = obj;
objs = new shape[size];
for (int i = 0; i < size; i++)
{
objs[i] = objs1[i];
}
}
void determineShape(int num_of_turning_point)
{
if (num_of_turning_point >= 1)
{
if (Vector2.Distance(mypointList[0], mypointList[mypointList.Count - 1]) > distOffset)
{
//check if the first and last point is in the same area
Debug.Log("no shape turning point: " + turningPointList.Count);
}
else
{
//mean first and last point is sort of connected
Debug.Log("turning point: " + turningPointList.Count);
if (turningPointList.Count == 3)
{
myshape = shape.triangle;
Debug.Log("triangle");
}
else if (turningPointList.Count >= 4)
{
// Debug.Log("gradient list: " + allGradientList.Count.ToString());
if (allGradientList[0] == allGradientList[2] && allGradientList[1] == allGradientList[3])
{
if (allGradientList[0] == direction.horizontal || allGradientList[0] == direction.vertical)
{
if (allGradientList[1] == direction.horizontal || allGradientList[1] == direction.vertical)
{
myshape = shape.square;
Debug.Log("square");
return;
}
}
else
{
if (allGradientList[1] == direction.positive || allGradientList[1] == direction.negative)
{
myshape = shape.diamond;
Debug.Log("diamond");
return;
}
}
}
else
{
myshape = shape.no_shape;
}
}
else
{
myshape = shape.no_shape;
}
}
}
else//num_of_turning_point is zero
{
//we know this is a line
float gradient = getGradient(mypointList[0], mypointList[mypointList.Count - 1]);//first and last point
getDirection(gradient);
// Debug.Log("gradient: " + gradient.ToString());
//Debug.Log("current: " + current_direction.ToString());
if (current_direction == direction.horizontal)
{
myshape = shape.horizontal_line;
Debug.Log("horizontal line");
}
else if (current_direction == direction.vertical)
{
myshape = shape.vertical_line;
Debug.Log("vertical line");
}
else if(current_direction == direction.positive)
{
Debug.Log("positive");
myshape = shape.diagonal_BLTR;
}
else if(current_direction == direction.negative)
{
Debug.Log("negative");
myshape = shape.diagonal_TLBR;
}
else
{
myshape = shape.no_shape;
Debug.Log("this is a bug");
}
}
}
public void resetShape()
{
myshape = shape.no_shape;
}
void Start()
{
isMousePressed = false;
myline = GetComponent<LineRenderer>();
mypointList = new List<Vector2>();
turningPointList = new List<Vector2>();
allAngle = new List<float>();
allLineVector = new List<Vector2>();
allGradientList = new List<direction>();
mytime = -1;
mytFadeTmer = 1.0f;
myshape = shape.no_shape;
//GameObject[] temp;
//temp = GameObject.FindGameObjectsWithTag("Main Player");
//foreach (GameObject a in temp)
//{
// if (a.name.Contains("Clone") == true)
// GameObject.Destroy(a);
// else
// mycharbase = a.GetComponent<CharacterBase>();
//}
mycharbase = GameObject.FindGameObjectWithTag("Main Player").GetComponent<CharacterBase>();
drawCam = GameObject.Find("draw camera").GetComponent<Camera>();
myline.SetColors(drawColor, drawColor);
}
private List<shape> getCameraData()
{
List<shape> shapeList = new List<shape>();
System.IO.StreamReader sr;
string s;
if (!connected)
{
if (!rr.connect("localhost"))
{
Console.WriteLine("Could not connect to localhost!");
return null;
}
connected = true;
}
takeNewCameraImage();
//sometimes the next roborealm loadProgram() gets stuck, regardless of which program it is
//the sleep_counter thing in the wait loop below is a hack to restart roborealm in this case
//Thread.Sleep(100);
//begin red obstacles
///*Start blob processing
if (!rr.loadProgram("c:\\Documents and Settings\\cs266\\Desktop\\API\\API\\Python\\Red_blobs.robo"))
Console.WriteLine("Red Blobs Program didn't run.\n");
rr.run("on");//unknown whether this should be "once" or "on". "once" gets stuck sometimes
int sleep_counter = 0;
while (rr.getVariable("ObProgram") != "1")
{
Thread.Sleep(50);
Console.WriteLine("sleeping in obstacles"+" roborealm running.. " + rr.getVariable("counter"));
sleep_counter++;
if (sleep_counter > 20)
{
Console.WriteLine("Roborealm seems to stuck, rerun..");
rr.run("off");
rr.run("on");
}
}
rr.run("off");
System.IO.StreamReader sblob = System.IO.File.OpenText("c:\\Documents and Settings\\cs266\\Desktop\\API\\API\\Python\\Obstacles.out");
//int[] Blobx = new int[100];
//int[] Bloby = new int[100];
s = "";
//int bcount = 0;
while ((s = sblob.ReadLine()) != null)
{
shape obs = new shape();
obs.shapetype = "boundary";
obs.id = 0;
string[] toks = s.Split(' ');
//Blobx[bcount] = int.Parse(toks[0]);
//Bloby[bcount] = int.Parse(toks[1]);7
obs.x = double.Parse(toks[0]) - 100;
obs.y = double.Parse(toks[1]) - 280;
obs.orientation = 0;
if (obs != null)
shapeList.Add(obs);
//bcount ++;
}
// End red obstacles
//begin blue robots
// TODO: Make the location of the vision output VARIABLE!
do
{
if (!rr.loadProgram("c:\\Documents and Settings\\cs266\\Desktop\\API\\API\\Python\\BlueStuff_smoothLarge_test.robo"))
Console.WriteLine("Blue Program didn't run.\n");
rr.run("once");
while (rr.getVariable("BProgram") != "1")
{
Thread.Sleep(50);
Console.WriteLine("sleeping in blue robots");
}
rr.run("off");
if (rr.getVariable("berror") != "0")
{
Console.WriteLine("Fail recognition. Retake camera image, might take a longer time.\n");
takeNewCameraImage();
}
} while (rr.getVariable("berror") != "0");
sr = System.IO.File.OpenText("c:\\Documents and Settings\\cs266\\Desktop\\API\\API\\Python\\Blue.out");
s = "";
//System.Console.WriteLine("hey");
while ((s = sr.ReadLine()) != null)
{
// print out for testing
//System.Console.WriteLine("blue shapes");
//System.Console.WriteLine(s);
Console.WriteLine("reading line " +s);
shape sh = parseShapes(s);
if (sh != null)
shapeList.Add(sh);
}
sr.Close();
//end blue robots
///*Start food processing
if (!rr.loadProgram("c:\\Documents and Settings\\cs266\\Desktop\\API\\API\\Python\\Blue_blobs.robo"))
Console.WriteLine("Blue Blobs Program didn't run.\n");
rr.run("once");
while (rr.getVariable("FoProgram") != "1")
{
Thread.Sleep(50);
Console.WriteLine("sleeping in blue blobs");
}
rr.run("off");
System.IO.StreamReader sfood = System.IO.File.OpenText("c:\\Documents and Settings\\cs266\\Desktop\\API\\API\\Python\\Food.out");
//int[] Blobx = new int[100];
//int[] Bloby = new int[100];
s = "";
//int bcount = 0;
while ((s = sfood.ReadLine()) != null)
{
shape food = new shape();
food.shapetype = "robot";
food.id = 8;
string[] toks = s.Split(' ');
//Blobx[bcount] = int.Parse(toks[0]);
//Bloby[bcount] = int.Parse(toks[1]);7
food.x = double.Parse(toks[0]) - 100;
food.y = double.Parse(toks[1]) - 280;
food.orientation = 0;
if (food != null)
shapeList.Add(food);
//bcount ++;
}
// end of food
/*
//start of red robot processing
do
{
if (!rr.loadProgram("c:\\Documents and Settings\\cs266\\Desktop\\API\\API\\Python\\RedStuff_smoothLarge_test.robo"))
Console.WriteLine("Red Program didn't run.\n");
rr.run("once");
while (rr.getVariable("RProgram") != "1")
{
Thread.Sleep(50);
Console.WriteLine("sleeping in red robots");
}
rr.run("off");
if(rr.getVariable("rerror") != "0")
{
Console.WriteLine("Fail recognition. Retake camera image, might take a longer time.\n");
takeNewCameraImage();
}
} while (rr.getVariable("rerror") != "0");
sr = System.IO.File.OpenText("c:\\Documents and Settings\\cs266\\Desktop\\API\\API\\Python\\Red.out");
s = "";
while ((s = sr.ReadLine()) != null)
{
// print out for testing
//System.Console.WriteLine("Printing red");
//System.Console.WriteLine(s);
shape sh = parseShapes(s);
if (sh != null)
shapeList.Add(sh);
}
//end of red robot processing
*/
//shape s_stored = new shape();
//s_stored.id = -1;
//for (int i = 1; i <= 10; i++)
//{
// foreach (shape sha in shapeList)
// {
// if (sha.shapetype == "robot")
// {
// if (s_stored.id == -1 && sha.id==i)
// {
// s_stored = sha;
// }
// else if(sha.id==i)
// {
// if (s_stored.confidence < sha.confidence)
// shapeList.Remove(s_stored);
// else
// shapeList.Remove(sha);
// }
// }
// }
//}
sr.Close();
/*
List<shape> anOldshapeList = shapeList;
int[] foundb = new int[bcount];
for(int i = 0; i < bcount; i++)
foundb[i] = -1;
int foundcount = 0;
for(int i = 0; i < bcount; i++) {
int found = -1;
foreach (shape sh in shapeList)
{
if ((Blobx[i] - 15 <= sh.x && Blobx[i] + 15 >= sh.x) &&
(Bloby[i] - 15 <= sh.y && Bloby[i] + 15 >= sh.y))
{
found = 1;
}
}
if(found != 1) {
shape myShape = new shape();
double distance = -1;
foreach (shape sh in oldShapeList){
double mydistance = Math.Sqrt( ((Blobx[i] - sh.x)*(Blobx[i] - sh.x)) + ((Bloby[i] - sh.y)*(Bloby[i] - sh.y)));
if(distance == -1 || mydistance < distance) {
distance = mydistance;
myShape = sh;
}
}
if(distance < 300)
shapeList.Add(myShape);
}
}
oldShapeList = anOldshapeList; */
//Console.WriteLine("VISION: Number of detected objects: "+shapeList.Count+"\n");
return shapeList;
}
private shape parseShapes(string s)
{
//this is only called for robot shapes
string[] line = s.Split(' ');
if (line.Length < 2)
return null;
shape sh = new shape();
sh.orientation = (450+double.Parse(line[1]))%360;
if (sh.orientation > 180)
sh.orientation -= 360;
//line 2,3,4,5 are the limits of the bounding box, these lines find the center
//line 2,4 is bottom left
//line 3,5 is the top right
//bounding box does not take into account robot orientation
sh.x = double.Parse(line[2]) + (double.Parse(line[3]) - double.Parse(line[2])) / 2;
sh.y = double.Parse(line[4]) + (double.Parse(line[5]) - double.Parse(line[4])) / 2;
//these are pixel offsets to place (0,0)
//when this isn't called (eg for an obstacle), the offset must still be done
sh.x -= 100;
sh.y -= 280;
sh.confidence = double.Parse(line[0]);
// need to update this once there are more shapes
//does this ever happen? parseShapes() is only called for robots
if (line[6] == "square")
{
//sh.shapetype = "boundary";
//sh.id = 0;
}
else if (line[6] == "food")
{
//Console.WriteLine("DSLFKJS:DLFKJS:DLFKJS:DLFKJS SAW FOOD");
//sh.shapetype = "robot";
//sh.id = 8;
}
else //always
{
//Console.WriteLine("++++++++++++++Line 6:" + line[6]);
sh.shapetype = "robot";
try
{
sh.id = int.Parse(line[6]);
}
catch (Exception e)
{
return null;
}
}
if (sh.x > 1200)
{
Console.WriteLine("VISION: coordinate problem " + sh.id + " x " + sh.x + "\n");
Thread.Sleep(10000);
}
if (sh.y > 600)
{
Console.WriteLine("VISION: coordinate problem " + sh.id + " y " + sh.y + "\n");
Thread.Sleep(10000);
}
// RIGHT NOW WIDTH AND HEIGHT AREN'T DEFINED
//Console.WriteLine("==========================new camera data==================================");
//System.Console.WriteLine("testing");
//System.Console.WriteLine(sh.id);
//System.Console.WriteLine(sh.shapetype);
//System.Console.WriteLine("xmin" + line[2]);
//System.Console.WriteLine("xmax" + line[3]);
//System.Console.WriteLine("ymin" + line[4]);
//System.Console.WriteLine("ymax" + line[5]);
//System.Console.WriteLine(sh.x);
//System.Console.WriteLine(sh.y);
//System.Console.WriteLine("orientation unfixed" + double.Parse(line[1]));
//System.Console.WriteLine("orientation"+sh.orientation);
//System.Console.WriteLine(sh.width);
//System.Console.WriteLine(sh.height);
return sh;
}
