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Trying to use mouse for input
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Just spent 10 straight hours on this and accomplished nothing

just trying to get it to work first, then will work on diff
calculations.
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@zappybiby
zappybiby committed Feb 18, 2017
1 parent 61f1845 commit 56d1a44
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Showing 4 changed files with 57 additions and 81 deletions.
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138 changes: 57 additions & 81 deletions ets2_auto_driving/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,111 +22,107 @@ using namespace std;

void Thinning(Mat input, int row, int col);


int main() {

// cudaf();
//cudaf();


long long int sum = 0;
long long int i = 0;

while (true) {
// Used to calculate FPS / Performance
// auto begin = chrono::high_resolution_clock::now();

// This finds the game window and sets the source for hWnd
auto begin = chrono::high_resolution_clock::now();
// Grab the game window
HWND hWnd = FindWindow("prism3d", NULL);

// Creates Mats "image" and "outputImg"
Mat image, outputImg;
hwnd2mat(hWnd).copyTo(image);

// This stuff would use GPUMat
// Mat to GpuMat
/*
cuda::GpuMat imageGPU;
imageGPU.upload(image);
medianBlur(image, image, 3);
bilateralFilter(imageGPU, imageGPU, 15, 80, 80);
cv::cuda::bilateralFilter(imageGPU, imageGPU, );
*/

// Apply Median Blur
medianBlur(image, image, 3);

int width = 0, height = 0;

RECT windowsize;
GetClientRect(hWnd, &windowsize);

// Change this to whatever size you want to resize to
// change this to whatever size you want to resize to
height = windowsize.bottom;
width = windowsize.right;

// Obtain the 4-points of the input image
// The 4-points at the input image
vector<Point2f> origPoints;

origPoints.push_back(Point2f(0, (height - 50)));
origPoints.push_back(Point2f(width, (height - 50)));
origPoints.push_back(Point2f((width / 2 + 125), (height / 2 + 30)));
origPoints.push_back(Point2f((width / 2 - 125), (height / 2 + 30)));
origPoints.push_back(Point2f(width, height - 50));
origPoints.push_back(Point2f(width / 2 + 125, height / 2 + 30));
origPoints.push_back(Point2f(width / 2 - 125, height / 2 + 30));

// The correspsonding 4-points in the destination image
vector<Point2f> dstPoints;

// The 4-points correspondences in the destination image
vector<Point2f> dstPoints;
dstPoints.push_back(Point2f(0, height));
dstPoints.push_back(Point2f(width, height));
dstPoints.push_back(Point2f(width, 0));
dstPoints.push_back(Point2f(0, 0));

// IPM (Inverse Perspective Mapping) object
// create an IPM object that will perform the Inverse Perspective Mapping.
IPM ipm(Size(width, height), Size(width, height), origPoints, dstPoints);

// Uses the 4-points to apply Homography
// Process
// clock_t begin = clock();
ipm.applyHomography(image, outputImg);

// clock_t end = clock();
// double elapsed_secs = double(end - begin) / CLOCKS_PER_SEC;
// printf("%.2f (ms)\r", 1000 * elapsed_secs);
// ipm.drawPoints(origPoints, image);

// More GPUMat stuff
/*
imageGPU.download(image);
Mat row = outputImg.row[0];
*/
// Mat row = outputImg.row[0];

// Creating Mats "gray", "blur", "sobel", and "contours"
cv::Mat gray;
cv::Mat blur;
cv::Mat sobel;
cv::Mat contours;

// Resizing the outputImg and making it gray (for performance reasons)
// Resize the `outputImg` to 320x240 for the smaller window.
cv::resize(outputImg, outputImg, cv::Size(320, 240));

// Convert `outputImg` to grayscale, storing the result in `gray`
cv::cvtColor(outputImg, gray, COLOR_RGB2GRAY);

// Applying blur, sobel, and threshold filters to image
// Reduce Noise
cv::blur(gray, blur, cv::Size(10, 10));

// Get Outlines
cv::Sobel(blur, sobel, blur.depth(), 1, 0, 3, 0.5, 127);

// Filter out artifacts
cv::threshold(sobel, contours, 145, 255, CV_THRESH_BINARY);

// Other effects we are not currently using
/*
Thinning(contours, contours.rows, contours.cols);
cv::Canny(gray, contours, 125, 350);
*/
// Thinning(contours, contours.rows, contours.cols);
// cv::Canny(gray, contours, 125, 350);

LineFinder ld;

// LineFinder parameters
ld.setLineLengthAndGap(20, 120);
ld.setMinVote(55);

// Detect Lines
// Uses Proabablistic Hough Transform to return a vector of lines
std::vector<cv::Vec4i> li = ld.findLines(contours);

// Draw the detected lines
ld.drawDetectedLines(contours);

// Display what the computer sees
// cv::cvtColor(contours, contours, COLOR_GRAY2RGB);
imshow("Test", contours);
waitKey(1);
// cv::cvtColor(contours, contours, COLOR_GRAY2RGB);

// WORK IN PROGRESS FOR INPUT IMPLEMENTATION //
/*
unsigned char row_center = gray.at<uchar>(10, 160);

unsigned char row_left = 0;
Expand All @@ -136,8 +132,10 @@ int main() {
int right = 0;
int i = 0;
int row_number = 5;
while (i < 150) {
if (i == 149) {
while (i < 150)
{
if (i == 149)
{
i = 0;
row_left = 0;
row_right = 0;
Expand All @@ -151,68 +149,46 @@ int main() {
break;
}
if (row_left != 255) {
row_left = gray.at<uchar>(row_number, 159 + left);
row_left = gray.at<uchar>(row_number, 159 + left);
left--;

}
if (row_right != 255) {
row_right = gray.at<uchar>(row_number, 159 + right);
row_right = gray.at<uchar>(row_number, 159 + right);
right++;

}
i++;

}
SetActiveWindow(hWnd);

SetWindowPos(hWnd, 0, 0, 0, 0, 0, SWP_NOSIZE | SWP_NOZORDER);
SetActiveWindow(hWnd);
POINT pt;
GetCursorPos(&pt);
int average = (left == -150 || right == 150) ? 0 : left + right;
if (left + right < -50)
{
cout << "go left ";
INPUT input[2];
input[0].type = INPUT_KEYBOARD;
// Translating 'A' to Scan Code, then pressing down
input[0].ki.wScan = MapVirtualKey(0x41, MAPVK_VK_TO_VSC);
input[0].ki.dwFlags = KEYEVENTF_SCANCODE;
// Translating 'A' to Scan Code, then releasing key
input[1].ki.wScan = MapVirtualKey(0x41, MAPVK_VK_TO_VSC);
input[1].ki.dwFlags = KEYEVENTF_SCANCODE | KEYEVENTF_KEYUP;
SendInput(2, input, sizeof(INPUT));
GetCursorPos(&pt);
SetCursorPos(pt.x - 1, pt.y);
cout << "current mouse pos: " << "x: " << pt.x << "y: " << pt.y << endl;
}
else if (left + right > -50 && left + right < 50){
cout << "go straight ";
for (int x = 0, y = 0; x < 700 && y < 700; x += 10, y += 10)
{
/*
INPUT input; // Using SendInput to send input commands
input.type = INPUT_KEYBOARD;
// Translating 'A' to Scan Code, then releasing key
input[1].ki.wScan = MapVirtualKey(0x41, MAPVK_VK_TO_VSC);
input[1].ki.dwFlags = KEYEVENTF_SCANCODE | KEYEVENTF_KEYUP;
// Translating 'D' to Scan Code, then releasing key
input[1].ki.wScan = MapVirtualKey(0x44, MAPVK_VK_TO_VSC);
input[1].ki.dwFlags = KEYEVENTF_SCANCODE | KEYEVENTF_KEYUP;
SendInput(2, input, sizeof(INPUT));
{
//SetCursorPos((windowsize.right - windowsize.left) / 2, (windowsize.bottom - windowsize.top) / 2);
SetCursorPos(512, 384);
}
}
/* else{
else{
cout << "go right ";
{
INPUT input[2];
input[0].type = INPUT_KEYBOARD;
// Translating 'D' to Scan Code, then pressing down
input[0].ki.wScan = MapVirtualKey(0x44, MAPVK_VK_TO_VSC);
input[0].ki.dwFlags = KEYEVENTF_SCANCODE;
// Translating 'D' to Scan Code, then releasing key
input[1].ki.wScan = MapVirtualKey(0x44, MAPVK_VK_TO_VSC);
input[1].ki.dwFlags = KEYEVENTF_SCANCODE | KEYEVENTF_KEYUP;
SendInput(2, input, sizeof(INPUT));
}
GetCursorPos(&pt);
SetCursorPos(pt.x + 1, pt.y);
cout << "current mouse pos: " << "x: " << pt.x << "y: " << pt.y << endl;
}
cout << "left: " << left << ", right: " << right << ", average: " << average << endl;
*/
cout << "left: " << left << ", right: " << right << ", average: " << average << endl;
}
return 0;
}
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