void MeanShiftTracking(uint8_t *frame)
{
static char flag=0;
static unsigned int initialCoordinates[2]={startYpoint+(windowSize/2),startXpoint+(windowSize/2)};
unsigned int currentCoordinates[2]={0,0};
static unsigned char rgbTemplateImage[3*windowSize*windowSize];//3*windowSize*windowSize
unsigned char rgbCandidateImage[3*windowSize*windowSize];//3*windowSize*windowSize
static unsigned char grayTemplateImage[windowSize*windowSize];//windowSize*windowSize
unsigned char grayCandidateImage[windowSize*windowSize];//windowSize*windowSize
static unsigned char filteredTemplateImage[windowSize*windowSize];//windowSize*windowSize
unsigned char filteredCandidateImage[windowSize*windowSize];//windowSize*windowSize
static double epanechnikovMask[windowSize*windowSize];//windowSize*windowSize
static unsigned int templateHistogram[256]={0}; //unsigned char
unsigned int candidateHistogram[256]={0};
if (flag==0)
{
DrawRectangle(frame,initialCoordinates,0);
if (HristoFlag)
{
GrabImage(frame,initialCoordinates,rgbTemplateImage);
ConvertRgb2Gray(rgbTemplateImage,grayTemplateImage);
EstimateEpanechnikovMask(epanechnikovMask);
FilterEpanechnikov(grayTemplateImage,filteredTemplateImage,epanechnikovMask);
EstimateHistogram(filteredTemplateImage,templateHistogram);
flag=1;
}
}
if (flag==1)
{
GrabImage(frame,initialCoordinates,rgbCandidateImage);
ConvertRgb2Gray(rgbCandidateImage,grayCandidateImage);
FilterEpanechnikov(grayCandidateImage,filteredCandidateImage,epanechnikovMask);
EstimateHistogram(filteredCandidateImage,candidateHistogram);
MeanShiftVectEstimate(initialCoordinates,currentCoordinates,templateHistogram,candidateHistogram,filteredCandidateImage);
initialCoordinates[0]=currentCoordinates[0];
initialCoordinates[1]=currentCoordinates[1];
DrawRectangle(frame,initialCoordinates,1);
}
}
int main()
{
setup();
unsigned long previous_time = 0;
static int k = 0;
uint8_t temp;
struct timeval tv;
struct timezone tz;
write_reg(ARDUCHIP_MODE, 0x01); //Switch to CAM
while(1)
{
temp = read_reg(ARDUCHIP_TRIG);
if(!(temp & VSYNC_MASK)) //New Frame is coming
{
write_reg(ARDUCHIP_MODE, 0x00); //Switch to MCU
resetXY();
write_reg(ARDUCHIP_MODE, 0x01); //Switch to CAM
while(!(read_reg(ARDUCHIP_TRIG)&0x01)); //Wait for VSYNC is gone
}
else if(temp & SHUTTER_MASK)
{
gettimeofday (&tv , &tz);
previous_time = tv.tv_sec;
//printf("previous_time is %d.\n",previous_time);
while(read_reg(ARDUCHIP_TRIG) & SHUTTER_MASK)
{
gettimeofday (&tv , &tz);
//printf("put time is %d.\n",tv.tv_sec);
if((tv.tv_sec - previous_time) >= 2)
{
Playback();
delayms(1000);
}
}
gettimeofday (&tv , &tz);
if((tv.tv_sec - previous_time) < 2)
{
//printf(" get time is %d.\n",tv.tv_sec);
memset(filePath,0,28);
strcat(filePath,"/home/pi/");
getnowtime();
strcat(filePath,nowtime);
strcat(filePath,".bmp");
//Open the new file
fp = fopen(filePath,"w+");
if (fp == NULL)
{
printf("open file failed\n");
return 0;
} //Generate file name
write_reg(ARDUCHIP_MODE, 0x00); //Switch to MCU, freeze the screen
GrabImage(filePath);
}
}
}
}
void FadeToColor(unsigned msecs, RGBA color)
{
IMAGE image = GrabImage(0, 0, GetScreenWidth(), GetScreenHeight());
dword time = GetTime();
while (GetTime() - time < msecs)
{
color.alpha = (byte)((GetTime() - time) * 255 / msecs);
BlitImage(image, 0, 0, CImage32::BLEND);
ApplyColorMask(color);
FlipScreen();
}
DestroyImage(image);
}
