introduced some changes in data format

src/AugmSSL/AiDataLoader.cpp

@@ -51,21 +51,27 @@ AiDataLoaderFile::AiDataLoaderFile(string folder, int fps)
 			for (vec::const_iterator it(v.begin()); it != v.end(); ++it)
 			{
 				string fileName((*it).filename().string());
-				long timestamp = atol(fileName.substr(6, 13).c_str());
-				if(firstTimestamp == -1)
-				{
-					firstTimestamp = timestamp;
-				}
-				if(spf * frameId <= timestamp - firstTimestamp)
+				tigers::AugmWrapperContainer container;
+				loadAiDataFromFile(it->string(), &container);
+
+				for(int i=0;i<container.wrapper_size();i++)
 				{
-					tigers::AugmWrapper wrapper;
-					loadAiDataFromFile(it->string(), &wrapper);
-					frames.push_back(wrapper);
-					frameId++;
+					long timestamp = atol(fileName.substr(6, 13).c_str());
+					if(firstTimestamp == -1)
+					{
+						firstTimestamp = timestamp;
+					}
+					if(spf * frameId <= timestamp - firstTimestamp)
+					{
+						frames.push_back(container.wrapper(i));
+						frameId++;
+						goto hacky_goto_ref_toberemoved; // FIXME
+					}
+					lastTimestamp = timestamp;
+					numFiles++;
 				}
-				lastTimestamp = timestamp;
-				numFiles++;
 			}
+			hacky_goto_ref_toberemoved:
 			cout << "Loaded " << frames.size() << "/" << numFiles
 					<< " frames for " << fps << "fps, lasting "
 					<< ((float) frames.size() / fps) << "s" << endl;
@@ -132,7 +138,7 @@ tigers::AugmWrapper AiDataLoaderFile::getCurrent()
 }
 
 int AiDataLoaderFile::loadAiDataFromFile(string fileName,
-		tigers::AugmWrapper * wrapper)
+		tigers::AugmWrapperContainer * container)
 {
 	fstream input(fileName, ios::in | ios::binary);
 	if (!input)
@@ -140,7 +146,7 @@ int AiDataLoaderFile::loadAiDataFromFile(string fileName,
 		cout << fileName << ": File not found." << endl;
 		return -2;
 	}
-	else if (!(*wrapper).ParseFromIstream(&input))
+	else if (!(*container).ParseFromIstream(&input))
 	{
 		cerr << "Failed to parse." << endl;
 		return -1;

src/AugmSSL/AiDataLoader.h

@@ -9,6 +9,7 @@
 #define AIDATALOADER_H_
 
 #include "augm_wrapper.pb.h"
+#include "augm_wrapper_container.pb.h"
 #include <string>
 #include <boost/asio.hpp>
 #include <boost/thread.hpp>
@@ -36,7 +37,7 @@ public:
 	tigers::AugmWrapper getCurrent();
 
 	static int loadAiDataFromFile(std::string fileName,
-			tigers::AugmWrapper * wrapper);
+			tigers::AugmWrapperContainer * wrapper);
 
 	int fps = 0;
 private:

src/AugmSSL/AugmSSL.cpp

@@ -105,10 +105,14 @@ void AugmSSL::drawReferee(AugmWrapper aiDataWrapper, Mat& drawing, Mat H) {
 void AugmSSL::drawAiData(AugmWrapper aiDataWrapper, Mat& drawing,
 		Transformer& transformer) {
 //	drawAllBots(aiDataWrapper, drawing, H);
-	circleRenderer.render(&aiDataWrapper, drawing, transformer);
-	lineRenderer.render(&aiDataWrapper, drawing, transformer);
-	pointRenderer.render(&aiDataWrapper, drawing, transformer);
-	textRenderer.render(&aiDataWrapper, drawing, transformer);
+	for(int i=0;i<aiDataWrapper.shapecollections_size();i++)
+	{
+		ShapeCollection shapeColl = aiDataWrapper.shapecollections(i);
+		circleRenderer.render(&shapeColl, drawing, transformer);
+		lineRenderer.render(&shapeColl, drawing, transformer);
+		pointRenderer.render(&shapeColl, drawing, transformer);
+		textRenderer.render(&shapeColl, drawing, transformer);
+	}
 	drawReferee(aiDataWrapper, drawing, transformer.H);
 }
 
@@ -186,6 +190,9 @@ AugmSSL::AugmSSL(AugmSSL_params params) {
 	GOOGLE_PROTOBUF_VERIFY_VERSION;
 
 	this->params = params;
+
+	visibleShapeContainers.push_back("PATHS");
+	visibleShapeContainers.push_back("ROLE_NAMES");
 }
 
 AugmSSL::AugmSSL() {
@@ -263,6 +270,8 @@ void AugmSSL::run() {
 			if (!init) {
 				stop();
 			} else {
+				initH = H.clone();
+				cout << "Change initH to " << initH << endl;
 //				std::cout << "H_after=" << std::endl << H << std::endl;
 				if (params.continuousTracking)
 					hDetector = lineSampler;
@@ -288,7 +297,7 @@ void AugmSSL::run() {
 			int tWait = (int) ((1000 / (params.fps)) - (time * 1000));
 			if (tWait < 1)
 				tWait = 1;
-			int key = waitKey(tWait);
+			char key = waitKey(tWait);
 			if (key == 27) //wait for 'esc' key press 27
 				stop();
 			if (params.inputType != INPUT_TYPE_CAM

src/AugmSSL/AugmSSL.h

@@ -84,6 +84,8 @@ private:
 
 	cv::Point2f rndTrans = cv::Point2f(0, 0);
 
+	std::vector<std::string> visibleShapeContainers;
+
 	void drawAiData(AugmWrapper aiDataWrapper, cv::Mat &drawing,
 			Transformer &transformer);
 	void drawReferee(AugmWrapper aiDataWrapper, cv::Mat &drawing, cv::Mat H);
@@ -102,7 +104,9 @@ public:
 	void stop();
 	void processFrame();
 
-	cv::Mat H = cv::Mat(cv::Size(3, 3), CV_64F);bool active = true;
+	cv::Mat H = cv::Mat(cv::Size(3, 3), CV_64F);
+	cv::Mat initH = cv::Mat(cv::Size(3, 3), CV_64F);
+	bool active = true;
 	int frameNumber = 0;
 	cv::VideoCapture* cap = NULL;
 };

src/AugmSSL/CMakeLists.txt

@@ -30,7 +30,7 @@ include(FindProtobuf)
 find_package( Protobuf REQUIRED )
 include_directories(${PROTOBUF_INCLUDE_DIR})
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
-PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS augm_wrapper.proto)
+PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS augm_wrapper.proto augm_wrapper_container.proto)
 
 add_executable( augmSSL MainWindow.cpp ${augmSSL_SOURCES} ${augmSSL_HEADERS_MOC} ${PROTO_SRCS} ${PROTO_HDRS} )
 target_link_libraries( augmSSL ${OpenCV_LIBS} ${PROTOBUF_LIBRARY} ${Boost_LIBRARIES} ${QT_LIBRARIES} )

src/AugmSSL/CircleRenderer.cpp

@@ -17,30 +17,30 @@ CircleRenderer::CircleRenderer() {
 CircleRenderer::~CircleRenderer() {
 }
 
-void CircleRenderer::render(AugmWrapper* aiDataWrapper, cv::Mat& drawing,
+void CircleRenderer::render(ShapeCollection* shapeCollection, cv::Mat& drawing,
 		Transformer& transformer) {
 	std::vector<Point2f> vCirclePosReal;
 	std::vector<float> vRadius;
 	std::vector<float> vThickness;
 	std::vector<cv::Scalar> vColors;
 
-	for (int i = 0; i < aiDataWrapper->circles_size(); i++) {
-		Point2f circlePosField(aiDataWrapper->circles(i).vcenter().x(),
-				aiDataWrapper->circles(i).vcenter().y());
+	for (int i = 0; i < shapeCollection->circles_size(); i++) {
+		Point2f circlePosField(shapeCollection->circles(i).vcenter().x(),
+				shapeCollection->circles(i).vcenter().y());
 
-		float radius = aiDataWrapper->circles(i).radius();
+		float radius = shapeCollection->circles(i).radius();
 		radius = radius > .05 ? radius : .05;
 
-		float thickness = aiDataWrapper->circles(i).linewidth();
+		float thickness = shapeCollection->circles(i).linewidth();
 
 		for (int j = 0; j < 5; j++) {
 			vCirclePosReal.push_back(
 					(vSupportPoints.at(j) * radius) + circlePosField);
 		}
 
-		cv::Scalar color(aiDataWrapper->circles(i).color().b(),
-				aiDataWrapper->circles(i).color().g(),
-				aiDataWrapper->circles(i).color().r());
+		cv::Scalar color(shapeCollection->circles(i).color().b(),
+				shapeCollection->circles(i).color().g(),
+				shapeCollection->circles(i).color().r());
 		vRadius.push_back(radius);
 		vThickness.push_back(thickness);
 		vColors.push_back(color);

src/AugmSSL/CircleRenderer.h

@@ -15,7 +15,7 @@ private:
 public:
     CircleRenderer();
     virtual ~CircleRenderer();
-       virtual void render(tigers::AugmWrapper* aiDataWrapper, cv::Mat& drawing, Transformer& transformer);
+       virtual void render(tigers::ShapeCollection* shapeCollection, cv::Mat& drawing, Transformer& transformer);
 };
 
 } /* namespace tigers */

src/AugmSSL/FieldInit.cpp

@@ -152,18 +152,18 @@ bool FieldInit::initializeField(cv::Mat& H, cv::Mat imgDst)
 	isInitialized = true;
 
 	setMouseCallback("init_Window", pullCorner, this);
-//	initCorners(imgDst.cols, imgDst.rows);
-	initCornersH(H);
+	initCorners(imgDst.cols, imgDst.rows);
+//	initCornersH(H);
 	drawRawField();
 	while (true)
 	{
-		int key = waitKey(100);
+		char key = waitKey(100);
 		void* wh = cvGetWindowHandle("init_Window");
 		if (!active || key == 27 || wh == NULL) //wait for 'esc' key press
 		{
 			isInitialized = false;
 			break;
-		} else if((key == 32 || key == 10) // space or enter
+		} else if((key == ' ' || key == 10) // space or enter
 				&& (std::count(vValidCorners.begin(), vValidCorners.end(), true) >= 4))
 		{
 			break;

src/AugmSSL/IRenderer.h

@@ -12,7 +12,7 @@ class IRenderer {
 public:
 	virtual ~IRenderer() {
 	}
-	virtual void render(tigers::AugmWrapper* aiDataWrapper, cv::Mat& drawing,
+	virtual void render(tigers::ShapeCollection* shapeCollection, cv::Mat& drawing,
 			Transformer& transformer) = 0;
 };
 

src/AugmSSL/LineRenderer.cpp

@@ -50,12 +50,12 @@ LineRenderer::LineRenderer() {
 LineRenderer::~LineRenderer() {
 }
 
-void LineRenderer::render(AugmWrapper* aiDataWrapper, cv::Mat& drawing,
+void LineRenderer::render(ShapeCollection* shapeCollection, cv::Mat& drawing,
 		Transformer& transformer) {
 	std::vector<Point3f> vVectorTips; // index%2==0: start; index%2==1: end
 	std::vector<cv::Scalar> vColors;
-	for (int i = 0; i < aiDataWrapper->lines_size(); i++) {
-		tigers::Line l = aiDataWrapper->lines(i);
+	for (int i = 0; i < shapeCollection->lines_size(); i++) {
+		tigers::Line l = shapeCollection->lines(i);
 		Point3f pointFieldStart(l.vstart().x(), l.vstart().y(), l.vstart().z());
 		Point3f pointFieldEnd(l.vend().x(), l.vend().y(), l.vend().z());
 		cv::Scalar color(l.color().b(), l.color().g(), l.color().r());

src/AugmSSL/LineRenderer.h

@@ -12,7 +12,7 @@ class LineRenderer: public IRenderer
 public:
 	LineRenderer();
 	virtual ~LineRenderer();
-	virtual void render(tigers::AugmWrapper* aiDataWrapper, cv::Mat& drawing,
+	virtual void render(tigers::ShapeCollection* shapeCollection, cv::Mat& drawing,
 			Transformer& transformer);
 };
 

src/AugmSSL/MainWindow.cpp

@@ -34,6 +34,7 @@ MainWindow::MainWindow() {
 	setWindowTitle(tr("Augmented SSL"));
 
 	readSettings();
+	memcpy(augm.initH.data, defH, 9 * sizeof(double));
 
 	inputChanged();
 
@@ -181,7 +182,7 @@ void MainWindow::inputChanged() {
 
 void MainWindow::stopPlayback() {
 	startstop->setText(tr("&Start"));
-	memcpy(defH, augm.H.data, 9 * sizeof(double));
+	memcpy(defH, augm.initH.data, 9 * sizeof(double));
 	augm.stop();
 }
 

src/AugmSSL/PointRenderer.cpp

@@ -17,14 +17,14 @@ PointRenderer::PointRenderer() {
 PointRenderer::~PointRenderer() {
 }
 
-void PointRenderer::render(AugmWrapper* aiDataWrapper, cv::Mat& drawing,
+void PointRenderer::render(ShapeCollection* shapeCollection, cv::Mat& drawing,
 		Transformer& transformer) {
 	std::vector<Point2f> vCirclePosReal;
 	std::vector<cv::Scalar> vColors;
 	std::vector<float> vThickness;
 
-	for (int i = 0; i < aiDataWrapper->points_size(); i++) {
-		tigers::Point c = aiDataWrapper->points(i);
+	for (int i = 0; i < shapeCollection->points_size(); i++) {
+		tigers::Point c = shapeCollection->points(i);
 
 		Point2f circlePosField(c.vpoint().x(), c.vpoint().y());
 

src/AugmSSL/PointRenderer.h

@@ -15,7 +15,7 @@ private:
 public:
     PointRenderer();
     virtual ~PointRenderer();
-       virtual void render(tigers::AugmWrapper* aiDataWrapper, cv::Mat& drawing, Transformer& transformer);
+       virtual void render(tigers::ShapeCollection* shapeCollection, cv::Mat& drawing, Transformer& transformer);
 };
 
 } /* namespace tigers */

src/AugmSSL/TextRenderer.cpp

@@ -8,14 +8,14 @@ namespace tigers {
 TextRenderer::TextRenderer() {
 }
 
-void TextRenderer::render(AugmWrapper* aiDataWrapper, cv::Mat& drawing,
+void TextRenderer::render(ShapeCollection* shapeCollection, cv::Mat& drawing,
 		Transformer& transformer) {
 	std::vector < Point3f > vRatingPosReal;
 	std::vector < cv::Scalar > vColors;
 	std::vector < std::string > vStrings;
 
-	for (int i = 0; i < aiDataWrapper->texts_size(); i++) {
-		tigers::Text txt = aiDataWrapper->texts(i);
+	for (int i = 0; i < shapeCollection->texts_size(); i++) {
+		tigers::Text txt = shapeCollection->texts(i);
 
 		Point3f ratingPosField(txt.vpoint().x(), txt.vpoint().y(), 0);
 

src/AugmSSL/TextRenderer.h

@@ -13,7 +13,7 @@ public:
 	TextRenderer();
 	virtual ~TextRenderer() {
 	}
-	virtual void render(tigers::AugmWrapper* aiDataWrapper, cv::Mat& drawing,
+	virtual void render(tigers::ShapeCollection* shapeCollection, cv::Mat& drawing,
 			Transformer& transformer);
 };
 

src/AugmSSL/augm_wrapper.proto

@@ -4,13 +4,19 @@ option java_package = "edu.dhbw.mannheim.tigers.sumatra.proto";
 option java_outer_classname = "AugmWrapperProtos";
 
 message AugmWrapper {
-	required Field field = 1;	
-	repeated TrackedBot bots = 2;
-	repeated Line lines = 3;
-	repeated Circle circles = 4;
-	repeated Point points = 5;
-	optional Referee referee = 6;
-	repeated Text texts = 7;
+  required uint64 timestamp = 1;
+	required Field field = 2;	
+	repeated TrackedBot bots = 3;
+	repeated ShapeCollection shapeCollections = 4;
+  optional Referee referee = 5;
+}
+
+message ShapeCollection {
+  required string identifier = 1;
+  repeated Line lines = 2;
+  repeated Circle circles = 3;
+  repeated Point points = 4;
+  repeated Text texts = 5;
 }
 
 message Field {

src/AugmSSL/augm_wrapper_container.proto

+package tigers;
+
+option java_package = "edu.dhbw.mannheim.tigers.sumatra.proto";
+option java_outer_classname = "AugmWrapperContainerProtos";
+
+import "augm_wrapper.proto";
+
+message AugmWrapperContainer {
+  repeated AugmWrapper wrapper = 1;
+}
\ No newline at end of file