Generate separate masks for side and center situations.

diff --git a/src/camera/rozkuk/maskgen.cxx b/src/camera/rozkuk/maskgen.cxx
index e4e873f36f0d90af41f2fb743d723145e1a372ae..a0890c22e1c58deb1cb38d61708793f007584c77 100644 (file)
--- a/src/camera/rozkuk/maskgen.cxx
+++ b/src/camera/rozkuk/maskgen.cxx
@@ -6,15 +6,20 @@
  *
  * Petr Kubizňák (kubiznak.petr@gmail.com), 2010
  *
- * Usage: ./maskgen inputfile [-b value]
+ * Usage: ./maskgen inputfile [-b value] [-y]
  *  inputfile:
  *   Specifies filename of the masks' mask image, i.e. image with black
  *   background and corns in different colors (first #141414, second #282828, ...),
  *   that will be replaced by black or white, depending on mask being generated.
  *  -b:
  *   If specified, the output image will be smoothed using 'value' width.
+ *  -y:
+ *   If specified, masks are generated for the yellow start, otherwise blue.
+ *   In fact, this option influences only one letter in names of output files.
  *
- * Output: Files mask%d.png, where %d means index of mask.
+ * Output: Files mask%d%c%c.png, where %d means index of mask,
+ *  first %c place of mask (s|c = side/central)
+ *  and second %c color of starting point (y|b).
  * 
  ******************************************************************************/
 
@@ -23,6 +28,7 @@
 #include <opencv/cv.h>
 #include <opencv/highgui.h>
 #include <unistd.h>
+#include "masks_globals.h"
 
 /******************************************************************************/
 
@@ -30,50 +36,32 @@
 
 // color definitions
 #define CL_NEUTRAL     128                             //neutral color - gray
+#define N                                              CL_NEUTRAL
 #define B                                              0                                       //black
 #define W                                              255                             //white
 
-#define CORNSCNT               5                                       //number of corns in one mask
-#define MASKSCNT               32                              //number of all masks
-
 /******************************************************************************/
 
 //look-up table
 CvMat *transformTable;
-//table of corns colors in each mask
-uchar cornColors[MASKSCNT][CORNSCNT] = {
-       {B,B,B,B,B},
-       {B,B,B,B,W},
-       {B,B,B,W,B},
-       {B,B,B,W,W},
-       {B,B,W,B,B},
-       {B,B,W,B,W},
-       {B,B,W,W,B},
-       {B,B,W,W,W},
-       {B,W,B,B,B},
-       {B,W,B,B,W},
-       {B,W,B,W,B},
-       {B,W,B,W,W},
-       {B,W,W,B,B},
-       {B,W,W,B,W},
-       {B,W,W,W,B},
-       {B,W,W,W,W},
-       {W,B,B,B,B},
-       {W,B,B,B,W},
-       {W,B,B,W,B},
-       {W,B,B,W,W},
-       {W,B,W,B,B},
-       {W,B,W,B,W},
-       {W,B,W,W,B},
-       {W,B,W,W,W},
-       {W,W,B,B,B},
-       {W,W,B,B,W},
-       {W,W,B,W,B},
-       {W,W,B,W,W},
-       {W,W,W,B,B},
-       {W,W,W,B,W},
-       {W,W,W,W,B},
-       {W,W,W,W,W}
+//table of corns colors in side masks
+const uchar sideCornColors[SIDEMASKSCNT][CORNSCNT] = {
+  {W,W,B,W,B,N,W,N,N,N},
+  {B,W,W,W,B,N,W,N,N,N},
+  {W,W,W,W,B,N,B,N,N,N},
+  {W,B,W,W,W,N,B,N,N,N},
+  {B,B,W,W,W,N,W,N,N,N},
+  {W,B,B,W,W,N,W,N,N,N},
+  {W,W,B,B,W,N,W,N,N,N},
+  {B,W,W,B,W,N,W,N,N,N},
+  {W,W,W,B,W,N,B,N,N,N}
+};
+//table of corns colors in central masks
+const uchar centerCornColors[CENTERMASKSCNT][CORNSCNT] = {
+  {N,N,N,N,N,B,N,W,B,W},
+  {N,N,N,N,N,B,N,B,W,W},
+  {N,N,N,N,N,W,N,W,B,B},
+  {N,N,N,N,N,W,N,B,W,B}
 };
 
 /******************************************************************************/
@@ -89,28 +77,29 @@ void initTable(void) {
 
 /******************************************************************************/
 
-/** Accordingly to selected mask some colors in lookup table are replaced to black or white. */
-void replaceTableColors(int maskIndex) {
+/** Accordingly to selected mask some colors in lookup table are replaced to black, white or neutral. */
+int replaceTableColors(const uchar cornColors[][CORNSCNT], int maskIndex) {
        uchar *data = transformTable->data.ptr;
-       data[20] = cornColors[maskIndex][0];
-       data[40] = cornColors[maskIndex][1];
-       data[60] = cornColors[maskIndex][2];
-       data[80] = cornColors[maskIndex][3];
-       data[100]= cornColors[maskIndex][4];
+       for(int i=0; i<CORNSCNT; i++) {
+               if(i>11) return 1;
+               data[20+20*i] = cornColors[maskIndex][i];
+       }
+       return 0;
 }
 
 /******************************************************************************/
 
 /** Generates outputs by replacing the colors of src in a loop.
  * If blur>0, the outputs are also smoothed with specified blur width. */
-int generateMasks(const IplImage *src, int blur) {
+int generateMasks(const IplImage *src, int blur, char orientation, char teamColor,
+                  const uchar cornColors[][CORNSCNT], int masksCnt) {
        IplImage *dest;
-       char outFilename[20];
+       char outFilename[100];
        
-       for(int i=0; i<MASKSCNT; i++) {
+       for(int i=0; i<masksCnt; i++) {
                dest = cvCloneImage(src);
-               replaceTableColors(i);                                                                                                                  //adapt look-up table for this mask
-               sprintf(outFilename, "mask%02d.png", i);                                                //output filename
+               replaceTableColors(cornColors, i);                  //adapt look-up table for this mask
+               sprintf(outFilename, "mask%02d%c%c.png", i, orientation, teamColor);    //output filename (P=s/c (side/center), C=b/y (blue/yellow))
 
                cvLUT(src, dest, transformTable);                                                                               //replace colors (apply look-up table)
                if(blur>0) {
@@ -132,14 +121,18 @@ int generateMasks(const IplImage *src, int blur) {
 int main(int argc, char *argv[]) {
        char opt;
        int blur=0;                                                             //some default value of blur
+       char color=clBLUE;
        IplImage *mask = NULL;
        
        // scan for program arguments
-  while ((opt = getopt(argc, argv, "b:")) != -1) {
+  while ((opt = getopt(argc, argv, "yb:")) != -1) {
     switch (opt) {
     case 'b':
       if(optarg) blur = atoi(optarg);                                                                          //threshold
       break;
+    case 'y':
+      color=clYELLOW;
+      break;
     }
   }
   // there must be exactly one argument (besides optional -b) - mask filename
@@ -157,7 +150,8 @@ int main(int argc, char *argv[]) {
 
        initTable();                                                                                                                                                                    //fill transformTable with value 128 (gray, i.e. neutral)
        
-       generateMasks(mask, blur);                                                                                                              //generate masks out of the masks' mask
+       generateMasks(mask, blur, orSIDE, color, sideCornColors, SIDEMASKSCNT);         //generate side masks from the masks' mask
+       generateMasks(mask, blur, orCENTER, color, centerCornColors, CENTERMASKSCNT);           //generate center masks from the masks' mask
        
        cvReleaseMat(&transformTable);
        cvReleaseImage(&mask);